The region has been mired in conflict for at least two decades, with different armed groups operating there despite the presence of UN peacekeeping forces since 1999.
Government spokesman Patrick Muyaya on Monday said they should go “because they have not been able to resolve the problem”.
He said the M23 rebels had refused to withdraw from the areas under their occupation in accordance with agreements signed in Luanda, Angola, last year.
Mr Muyaya added that a meeting of the regional East African Community (EAC) heads of states “should rule on the incapacity of the regional force” to deal with the issue.
The M23 stopped pulling out from areas under their occupation in April when President Felix Tshisekedi excluded them from talks.
Last year, EAC leaders ordered the M23 to cease fire and withdraw to Mount Sabinyo, on the DR Congo side of the border with Uganda.