The vote passed 33-28 with two abstentions.
There's been ongoing debate on the Europe question, and it's split parties within government. The Social Democrats are in favor of joining the EU, while the Left-Greens are against.
Iceland's application to join the EU is expected to be received by Brussels on July 27, and talks will commence early next year, with a referendum slated to take place in late 2011 or early 2012.
At the same time, Parliament failed to pass an Independence Party motion for a binding referendum to be held at close of negotiations over membership.
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