The report also said Mr Kim was accompanied by his foreign minister Ri Yong Ho, defence minister No Kwang Chol and sister Ms Kim Yo Jong.
If the joint statement does lead to a lasting detente, it could fundamentally change the security landscape of Northeast Asia, just as former US President Richard Nixon visit to Beijing in 1972 led to the transformation of China. "I also learned that he loves his country very much". Mr Trump had said on Saturday he would know within a minute of meeting Mr Kim whether he would reach a deal.
Rodman described Kim as a "big kid" who wants to see the world and he expressed hope that the two leaders will make progress. The two men walked out together, with Trump extending his hand first.
After greeting each other, the two leaders planned to sit for a one-on-one meeting that a U.S. official, speaking on condition of anonymity, said could last up to two hours, with only translators joining them.
The North Korean autocrat's every move will be followed by 3,000 journalists who have converged on Singapore, and by gawkers around the world, up until he shakes hands with Trump on Tuesday.
After some initial exchanges lasting about half an hour, Mr Trump and Mr Kim emerged, walking side-by-side through the colonnaded hotel before re-entering the meeting room, where they were joined by their most senior officials.
Speaking of his one-on-one meeting with Mr Kim, President Trump said it was "very, very good" and said they had an "excellent relationship".
Finally, the dessert options included dark chocolate tartlet ganache, vanilla Häagen-Dazs ice cream with cherry coulis, or Tropezienne, a cream-filled pastry. But no one can credibly suggest that a durable or verifiable denuclearization of the Korean peninsula can be achieved when North Korea remains a completely closed and totalitarian state.
As the cameras captured the moment, Trump quipped: "Very nice". Trump asked photographers: "Getting a good picture everybody?"
The North Korea leader said through a translator that the document "heralds a new start, leaving the past behind".
North Korea, however, has shown little appetite for surrendering nuclear weapons it considers vital to the survival of Kim's dynastic rule.
The two men kicked off their summit with a handshake shortly after 9 a.m. local time Tuesday - 9 p.m. Monday in NY - marking the first face-to-face encounter between a sitting US president and a North Korean leader.
Trump planned to speak to reporters after concluding the summit, the White House said.
Kim was due to leave on Tuesday afternoon, a source involved in the planning of his visit has said. The shake lasted 12 seconds, not almost as long as Trump's epic 26-second handshake with Japanese prime minister Shinzo Abe.
"We are hopeful this summit will have set the conditions for future successful talks", Pompeo said yesterday evening.