Bipartisan congressional pressure helped push Mexico’s legislature to approve a joint military exercise between the U.S. and Mexican militaries, according to two people familiar with a U.S. delegation to the country.

The U.S. and Mexico had been considering a joint exercise for which 19 U.S. Marines would train with the Mexican Navy in the city of Campeche along the Gulf of Mexico (the U.S. calls it the “Gulf of America”). But Mexican lawmakers balked at approving the exercise after the U.S. conducted a Jan. 3 operation to capture former Venezuelan leader Nicolás Maduro.

The plan got back on track following a visit from a congressional…

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