WASHINGTON—President Trump will travel to South Korea, in conjunction with his trip to Japan for the Group of 20 summit, to pursue efforts to get North Korea to denuclearize.

The trip this summer will mark Mr. Trump’s second visit to South Korea since taking office. The G-20 summit, in Osaka, Japan, is in late June. A White House statement Wednesday didn’t specify the exact dates of Mr. Trump’s stop in South Korea.

Mr. Trump and his South Korean counterpart, Moon Jae-in, will discuss “efforts to achieve the final, fully verified denuclearization of the Democratic People’s Republic of Korea,” the statement said, using the official name for North Korea.

Mr. Trump’s talks with North Korean Leader Kim Jong Un in February hit an impasse over sanctions relief, prompting Mr. Trump to end the summit early. He and Mr. Moon met at the White House last month.

Since then, Pyongyang has tested two suspected short-range missiles. Mr. Trump has played down the import of the recent launches.