Their call marks the beginning of the Week of Prayer for Christian Unity 2017.
Reflecting on the event ahead of the 500th anniversary of the Reformation later this year, Archbishop Justin Welby and Archbishop Dr John Sentamu said the schism left a "legacy of mistrust and competition".
In a joint statement, the leaders said: "Remembering the Reformation should also lead us to repent of our part in perpetuating divisions.
"Such repentance needs to be linked to action aimed at reaching out to other churches and strengthening relationships with them.
"This anniversary year will provide many opportunities to do just that, beginning with this Week of Prayer for Christian Unity."
Arcbishops Justin and Dr John also said the positive aspects of the Reformation should be celebrated, including the availability of the Bible in different languages.
The beginning of the Reformation in Europe was marked by Martin Luther's 95 Theses on 31st October 1517 in Wittenberg, Germany, which protested against the sale of indulgences for sins.
The two Archbishops went on to say: "Many will also remember the lasting damage done five centuries ago to the unity of the Church, in defiance of the clear command of Jesus Christ to unity in love.
"Those turbulent years saw Christian people pitted against each other, such that many suffered persecution and even death at the hands of others claiming to know the same Lord.
"We therefore call on all Christians to seek to be renewed and united in the truth of the gospel of Christ through our participation in the Reformation Anniversary, to repent of divisions, and, held together in Him, to be a blessing to the world in obedience to Jesus Christ."
Events to mark the 500th anniversary of the Reformation include a 'storymobile' which will visit 68 European places linked to the scheme, including Liverpool, Cambridge and London.