South Korean President Moon Jae-in shakes hands with North Korean leader Kim Jong Un during their meeting at the Peace House at the truce village of Panmunjom inside the demilitarized zone separating the two Koreas, South Korea, April 27, 2018. Korea Summit Press Pool/Pool via Reuters

South Korean President Moon Jae-in watches as North Korean leader Kim Jong Un writes in a guestbook during their meeting at the Peace House at the truce village of Panmunjom inside the demilitarized zone separating the two Koreas, South Korea, April 27, 2018. Korea Summit Press Pool/Pool via Reuters

South Korean President Moon Jae-in shakes hands with North Korean leader Kim Jong Un during their meeting at the Peace House at the truce village of Panmunjom inside the demilitarized zone separating the two Koreas, South Korea, April 27, 2018. Korea Summit Press Pool/Pool via Reuters

North and South Korea have confirmed a "complete denuclearisation" of the Korean peninsula as a common goal, but have not provided any specific measures.

They also confirmed a return visit later this year.

Smiling and holding hands, North Korean leader Kim Jong Un and South Korean President Moon Jae-in met at the heavily fortified demilitarised zone between the countries on Friday, pledging to pursue peace after decades of conflict.

Kim became the first North Korean leader since the 1950-53 Korean War to set foot in South Korea after shaking hands with his counterpart over a concrete curb marking the border at the truce village of Panmunjom.

Expand Close South Korean President Moon Jae-in shakes hands with North Korean leader Kim Jong Un during their meeting at the Peace House at the truce village of Panmunjom inside the demilitarized zone separating the two Koreas, South Korea, April 27, 2018. Korea Summit Press Pool/Pool via Reuters REUTERS / Facebook

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Whatsapp South Korean President Moon Jae-in shakes hands with North Korean leader Kim Jong Un during their meeting at the Peace House at the truce village of Panmunjom inside the demilitarized zone separating the two Koreas, South Korea, April 27, 2018. Korea Summit Press Pool/Pool via Reuters

Scenes of Moon and Kim joking and walking together marked a striking contrast to last year's barrage of North Korean missile tests and its largest ever nuclear test that led to sweeping international sanctions and fears of a fresh conflict on the Korean peninsula.

After a morning meeting discussing denuclearisation, the leaders planted a tree and unveiled a monument engraved with "planting peace and prosperity". The two then took a short walk along the border before sitting and talking on a wooden boardwalk.

Their dramatic meeting comes weeks before Kim is due to meet U.S. President Donald Trump to discuss denuclearising the Korean peninsula.

"We are at a starting line today, where a new history of peace, prosperity and inter-Korean relations is being written," Kim said before the two Korean leaders and top aides began talks.

The two leaders are expected to sign a joint declaration before attending a dinner hosted by Moon, South Korean Blue House official told reporters.

During their private meeting, Kim told Moon he came to the summit to end the history of conflict and joked he was sorry for waking Moon up with his early morning missile tests, the official said.

Kim told Moon he would be willing to visit the presidential Blue House in Seoul, invited Moon to Pyongyang, and said he wanted to meet "more often" in the future, the official added. Just days before the summit, Kim said North Korea would suspend nuclear and long-range missile tests and dismantle its only known nuclear test site.

But there is widespread scepticism about whether Kim is ready to abandon the nuclear arsenal his country has defended and developed for decades as what it says is a necessary deterrent against U.S. invasion.

Two earlier summits between the leaders of North and South Korea, in Pyongyang in 2000 and 2007, failed to halt the North's weapons programmes or improve relations in a lasting way.

"Today, rather than create results we won't be able to carry out like in the past, we should make good results by talking frankly about current issues, issues of interest," Kim said.

After closed-door talks lasting more than 90 minutes, Kim was driven back to the North side in a black limousine flanked by guards who ran alongside.

The summit will close after dinner and a film.

The leaders' wives are expected to attend the dinner, the South said, along with singers from the two Koreas and other dignitaries.

Earlier, Moon greeted Kim at the military demarcation line where the men smiled and shook hands.

In an unplanned move, Kim invited Moon to step briefly across into North Korea, before the two leaders crossed back into South Korea holding hands.

"I was excited to meet at this historic place and it is really moving that you came all the way to the demarcation line to greet me in person," Kim said, wearing his customary black Mao suit.

"A new history starts now. An age of peace, from the starting point of history," Kim wrote in Korean in a guest book in the South's Peace House before talks began.

Minutes before Kim entered Peace House, a North Korean security team conducted a sweep for explosives and listening devices, and sprayed what appeared to be disinfectant in the air, on the chairs, and on the guest book.

The United States is hopeful talks will make progress on achieving peace and prosperity, the White House said in a statement as the two men began their summit.

The White House also said it looks forward to continuing discussions with South Korea in preparation for the planned meeting of Trump and Kim in the coming weeks.

Just months ago, Trump and Kim were trading threats and insults as the North made rapid advances in pursuit of nuclear-armed missiles capable of hitting the United States.

Moon travelled to the meeting in a large motorcade, stopping briefly to greet dozens of summit supporters waving South Korean flags near the presidential Blue House in Seoul.

Hundreds of demonstrators gathered in downtown Seoul from early morning to protest or support the summit.

Impoverished North Korea and the rich, democratic South are technically still at war because the Korean War ended in a truce, not a peace treaty.

The United States stations 28,500 troops in South Korea as a legacy of the Cold War conflict, which pitted the South, the United States and United Nations forces against the communist North, backed by China and Russia.

Kim and Trump are expected to meet in late May or June, with Trump saying on Thursday he was considering several possible dates and venues.

The latest Korean summit has particular significance not least because of its venue: the Demilitarised Zone, a 160-mile (260-km) long, 2.5-mile (4-km) wide strip of land created in the 1953 armistice to serve as a buffer between the South and North.

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