Kim Jong Un has invited Donald Trump to visit Pyongyang for a second summit in July, it has been reported.

The North Korean leader extended the invite in a letter that was hand-delivered to Trump in the White House earlier this month by emissary Kim Yong Chol.

If talks go well the July summit could be followed by another meeting in Washington scheduled for September, South Korean media says.

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Kim Jong Un invited Donald Trump to Pyongyang for a second summit in a letter delivered to the White House by emissary Kim Yong Chol (left) earlier this month

Kim and Trump will meet in Singapore on Tuesday, in the first ever summit between the leaders of America and North Korea.

High-ranking officials from both countries have met several times in advance of Tuesday's summit to prepare for the historic talks.

It was at those meetings that the need for further summits was agreed and a rough timetable laid out, Japanese news agency Kyodo News reports.

Kim invited Trump to the North Korean capital on June 1 in a hand-written letter, according to South Korean newspaper JoongAng Ilbo, which cited an anonymous source in Singapore.

It is the first time the contents of the letter have been discussed, after the White House refused to say what it said.

Kim Jong Un and Donald Trump are both in Singapore ahead of the first summit, although staying at separate hotels.

The pair are scheduled to meet at 9am local time on Tuesday,and will hold one-on-one talks for around two hours before being joined by their aides.

Trump met with SIngapore's Prime Minister Lee Hsien Loong on Monday for a working lunch after arriving in the country for his first summit with Kim

Kim Jong Un touched down in Singapore in an Air China jet, with North Korean state-owned media saying his meeting with Trump marks the start of a 'changed era'

North Korea's state-owned newspaper Rodong Sinmun announced the summit to its people on Monday, saying the talks would focus on 'establishing new DPRK-U.S. relations… building a durable peace-keeping mechanism on the Korean Peninsula…realizing the denuclearization of the Korean peninsula and other issues of mutual concern.'

The newspaper described the summit as the start of a 'changed era'.

Meanwhile US Secretary of State Mike Pompeo said the US remains committed to achieving the 'complete, verifiable, irreversible denuclearization of the Korean Peninsula.'

Kim arrived in Singapore aboard an Air China jet amid fears his Soviet-era Ilyushin IL-62 would not make the distance, having never been taken on a long-haul trip before.

Kim Yo Jong, the North Korean leader's sister, arrived aboard that jet.

Meanwhile Trump touched down aboard Air Force One before meeting with Singapore's Prime Minister Lee Hsien Loong.

The pair had a working lunch together, and Trump was presented with a cake ahead of his 72nd birthday, which is on June 14.

Trump told Lee that he has a 'very interesting meeting' tomorrow which he said is 'going to work out very nicely'.

The President will then spend his evening in briefings with senior staff preparing for the summit, a White House spokesman told Dailymail.com.