After days of speculation – and optimistic statements by the two leaders ̵
It was her first personal meeting since an unfortunate summit in Hanoi, Vietnam, in February.
Trump arrived in the DMZ shortly before 2:00 am Eastern US time, accompanied by South Korea's President Moon Jae-in. They were shown waiting for Kim's arrival, along with South Korean military personnel and other officials.
However, before the meeting with Kim began, Trump met with several military personnel and others to discuss some relics from the time of the Korean War.
"We are all the way with you," Trump told the service members, which included both South Korea-based US troops and South Korean troops.
Eventually the two leaders discovered each other at 2:40 CET from a short distance and then walked towards each other. They met, shook hands and crossed the border into North Korea before returning to the DMZ.
Trump was the first incumbent US president to enter the Hermit Kingdom.
"I was proud to have crossed the line," Trump Kim later told Freedom House on the South Korean Associated Press page. "It's a great day for the world."
Kim appeared to be attracted to the meeting, the report said.
"I believe this is an expression of his willingness to eradicate the unfortunate past and open a new future," Kim told the AP to Trump. He added that he was "surprised" when Trump extended the invitation on Saturday.
"I believe this is an expression of [President Trump’s] readiness to eliminate the unfortunate past and open a new future."
TRUMP HEADS TO DMZ: The opportunity to meet Kim and move to North Korea
Previously, Trump, while taking the viewpoint of Observation Post Ouellette in the DMZ before meeting with Kim, had told reporters that relations between the US and North Korea had increased since Kim's first summit meeting in Singapore last June. " enormously improved ".
Later, Trump said he would invite Kim to visit the US and possibly the White House.
"I would invite him now," Trump told AP.
Kim spoke in The translator said he would invite Trump to Pyongyang, the North Korean capital, "in due time".
It was Trump's first visit to the DMZ, attended by every president since Ronald Reagan – with the exception of President George HW Bush – was on tour during their term, according to the Associated Press. Elder Bush, who died last year, visited the DMZ as vice president under Reagan, the AP reported.
Earlier on Sunday, Moon told reporters that Kim had agreed to meet with Trump. The confirmation was made at a joint press conference between Moon and Trump after their brief meeting in Seoul.
"President Trump is the peacemaker on the Korean Peninsula," Moon said in announcing the plan.
"President Trump is the peacemaker on the Korean Peninsula."
Prior to the press conference, both Trump and Kim had expressed hope that the meeting would be possible. But Trump said on Sunday that logistical and security problems still need to be resolved.
At the press conference, Moon told reporters that Kim Trump had accepted an invitation to a meeting in the DMZ, the heavily fortified village in the Korean border village of Panmunjom. Trump also offered to be the first US president to invade North Korea.
Trump told reporters he was looking forward to the meeting with Kim, who will follow their previous summit meeting in Singapore in June and in Hanoi in February.  Nonetheless, Trump downplayed the significance of the meeting and said it was "just a step" in repairing the relationship between the US and North Korea and working towards a US nuclear disarmament target on the Korean Peninsula.
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Trump is in South Korea, visiting Moon after attending the G-20 summit in Osaka, Japan. There he met with the leaders of China, Russia and Saudi Arabia. amongst other things.
This is an evolving story. Look for updates. The Associated Press contributed to this report.