He was speaking in the capital Seoul, hours after North Korea's failed attempt to launch a missile, which he described as "provocation".
Mr Pence addressed American troops based on the Korean peninsula at an Easter Service.
He said: "This morning's provocation from the North is just the latest reminder of the risks each one of you face every day in the defence of the freedom of the people of South Korea and the defence of America in this part of the world.
"In these troubled times in this part of the world your courage and your valour still amazes the American people."
He added: "This is a challenging time, all over the world but especially here in the Asia-Pacific.
"The opportunity for me to be here today at such a time as this is a great… a privilege for me. But let me assure you, under President Trump's leadership our resolve has never been stronger.
"Our commitment to this historic alliance with the courageous people of South Korea has never been stronger. And with your help, and with god's help freedom will ever prevail on this peninsula."
South Korea is the first stop on the Vice President's tour of Asia.