SEOUL -- South Korea's main opposition party said Sunday it will push for another vote to impeach President Yoon Suk-yeol over his declaration of martial law.

"Yoon ... must either resign immediately or be impeached without delay," Lee Jae-myung, leader of the Democratic Party of Korea, said in a televised speech.

"On Dec 14, our Democratic Party will impeach Yoon in the name of the people," he added.

The remarks came a day after President Yoon survived an impeachment motion in parliament as most members of his ruling party boycotted the vote.

Following Lee's announcement, ruling People Power Party leader Han Dong-hoon said "orderly resignation" is better than impeachment which carries uncertainties.

Earlier in the day, Han and Prime Minister Han Duck-soo issued a joint statement, affirming that the ruling party would seek an orderly and early end to Yoon's presidential term and that Yoon would not be involved in the internal and foreign affairs of the country before he steps down.

But National Assembly Speaker Woo Won-shik, also from the main opposition party, denounced the arrangement as being "unconstitutional" and "arrogant."

Woo said it would be a "blatant violation of the Constitution" should the prime minister and ruling party jointly exercise presidential power, noting "Impeachment is the only legal procedure to suspend the president from carrying out his duties."