As they then moved to the meeting room, Mr Kim looked tense - leaning forward in his chair, noting that the two leaders have overcome many obstacles to be there.
Heading into Tuesday's summit, the big competing items on the table came down to what by now are popular acronyms, with the USA seeking the denuclearisation of the Korean peninsula, or CVID (complete, verifiable, irreversible denuclearisation), and the North Korean leadership rejecting unilateral nuclear disarmament while seeking its survival, or CVIG (complete, verifiable, irreversible guarantee of North Korea's security).
He declined, however, to reveal any details of the preliminary discussions being held Monday between US and North Korean officials.
"We're going to have a great discussion and I think tremendous success".
In addition to the pictures of Kim on the tour on Tuesday, separate landscape shots of the Marina Bay Sands hotel, and a bird's-eye view of Singapore from the hotel's observation deck were also shown. The North has faced crippling diplomatic and economic sanctions as it has advanced development of its nuclear and ballistic missile programs.
Trump is hoping to make a legacy-defining deal that some say could earn him a Nobel Peace Prize.
One US official said the two sides were working to craft a joint US-North Korea "statement of understanding" that could be released after the talks.
Asked by a reporter how the meeting was going, Trump said: "Very good". "In light of how many flimsy agreements the United States has made in previous years, this President will ensure that no potential agreement will fail to adequately address the North Korean threat". Moon Jae-in, South Korea's president, said after the meeting had started: "Perhaps the minds of our people are on Singapore".
The combatants of the 1950-53 Korean War are technically still at war, as the conflict, in which millions of people died, was concluded only with a truce.
Many analysts are skeptical that Kim will agree to fully give up nuclear weapons because he sees them as essential to his nation's security and self-identity. China and South Korea would have to sign off on any legal treaty. "We are prepared to take what will be security assurances that are different, unique, than America's been willing to provide previously".
Kim was heard telling Trump through a translator: "I think the entire world is watching this moment".
Any nuclear deal will hinge on North Korea's willingness to allow unfettered outside inspections of the country's warheads and nuclear fuel, much of which is likely kept in a vast complex of underground facilities.
On Tuesday, the two leaders will begin their meeting with a one-on-one session at 9 am local time. That could generate misunderstandings and a breakdown that risks armed conflict over North Korea's nuclear weapons.
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