President Donald Trump became the first U.S. President to set foot in North Korea on Sunday.
The impromptu meeting was organised yesterday, both leaders said, after Mr Trump tweeted Mr Kim suggesting they meet and "say Hello (?)!" while he was in the area for the G20 summit in the Japanese city of Osaka.
President Donald Trump shakes hands with North Korean leader Kim Jong Un after their meeting.
South Korean people watch a broadcast of South Korean President Moon Jae-in and US President Donald Trump's visit to the Demilitarised Zone.
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Speaking at the press conference with Mr Kim, the US President said: "This was a special moment, this is I think really - as President Moon said - this is a historic moment, the fact that we're meeting".
"I enjoy being with you, and thank you very much", Trump said as the two leaders sat side-by-side there - and then shared another handshake. He became the first sitting U.S. president to meet with the leader of the isolated nation a year ago, when they signed an agreement in Singapore to bring the North toward denuclearization.
After a handshake with Kim, Trump walked 20 steps into North Korea.
"I was surprised to see your message that you wanted to meet me", he told Mr Trump, referring to Mr Trump's Saturday offer, in a Twitter posting, to meet.
"This is an expression of his willingness" to work towards a new future, Kim said.
The meeting is the third between the two leaders in just over a year, and the first since February, when their summit in Vietnam imploded without an agreement from Kim on denuclearization. Kim Jong-un also added, "It's a very courageous and determined act".
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U.S. Secretary of State Mike Pompeo told reporters shortly before departing South Korea that a fresh round of talks will likely happen "sometime in July" and the North's negotiators would be foreign ministry diplomats.
Kim said it would be a great honour if Trump visited his capital of Pyongyang.
"There was great conflict here prior to our meeting in Singapore", Trump said.
Following the meeting at the DMZ, the two leaders walked into South Korea.
"But North Korea has stated clearly it will only denuclearize part of its weapons program, and this won't change any of that even if they do shake hands".
Moon also met Russian President Vladimir Putin to discuss peace in the Korean peninsula.
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Standing next to Trump after the USA president crossed the border, Kim noted the historic value of the meeting. Part of the resolution includes the USA holding off on threatened additional tariffs on Chinese goods, according to Chinese state-run news agency Xinhua.