US President Donald Trump and his Russian counterpart Vladimir Putin exchanged a handshake for the first time on Friday as they arrived for the G20 summit in Germany.

"They shook hands and said they will meet separately and see each other soon," said Kremlin spokesman Dmitry Peskov.

Ahead of the meeting, both men said they were looking forward to finally sitting down for talks.

View photos President Trump shakes hands with Vladimir Putin at a G20 gathering. Source: EPA More

"I look forward to all meetings today with world leaders, including my meeting with Vladimir Putin. Much to discuss," Trump wrote on Twitter.

Asked if Putin felt the same about the talks, Peskov said: "Affirmative".

View photos Trump is said to be establishing a rapport with Putin in order to avoid another Cold War. Source: Bundesregierung More

Trump and Putin's meeting comes at a pivotal time in relations between Russia and the United States, as federal investigators continue to look into possible collusion between Trump campaign associates and Russian officials.

The meeting of leaders of the Group of 20 global economic powers opened on Friday in Hamburg, Germany.

When the power pair meet, Trump is shown extending his left arm to pat Putin's back while he smiles broadly.

A White House aide has said Trump is trying to establish a rapport with Putin in the hope of avoiding a new Cold War.

View photos World leaders gather at the G20 Summit in Hamburg, Germany. Source: Reuters More

Trump is trying to establish a rapport with Putin, one White House aide said Friday, in the hope that the two men can reach a detente and avoid a new Cold War.

Footage of the two leaders meeting was shot at an informal gathering before the more official meetings.

Ahead of the G20 Summit's start, Trump vowed to fight for US interests, despite the "fake media" he claims is biased against him.