At the conclusion of the summit, Trump hailed the talks as a historic, and personal, achievement.
Trump left his hotel a few minutes before Kim left the St. Regis Hotel in Singapore, ahead of their meeting at the Capella Hotel on Sentosa Island. Television images showed Kim's motorcade arriving later.
But he added: "In the end, that doesn't matter".
"We will all know soon whether or not a real deal, unlike those of the past, can happen!" he wrote.
After the June 2000 summit, family members in North and South Korea separated by the Korean War were able to reunite, and the two Koreas marched together in the opening ceremony of the 2000 Olympics in Sydney, Australia. The 1950-53 conflict ended with a truce, not a final peace treaty.
On Tuesday morning, Pompeo fed the mounting anticipation of diplomatic breakthrough: "We're ready for today".
Kim and Trump are staying in hotels that are less than 600 meters apart, but each leader spent about 20 minutes by auto to reach their destination in Sentosa Island.
The summit with Trump is the culmination of months of posturing and negotiating between top United States and North Korean officials and comes less than two weeks after Trump reversed his decision to scrap plans for the meeting, which is set to take place in Singapore.
Rodman said Obama "just brushed me off" and "didn't even give me the time of day".
Joseph Yun, former US envoy for North Korea policy, alluded to that when he told a Senate hearing last week that there's a risk of "overloading the agenda" for the summit. In the lead up to the summit, North Korea, however, has rejected any unilateral nuclear disarmament, and its reference to denuclearisation of the peninsula has historically meant it wants the U.S. to remove its "nuclear umbrella" protecting South Korea and Japan, which it sees as a threat.
But doubts remain about whether Donald Trump can pull it off. But the White House said he will instead leave at about 8pm on Tuesday - nearly 15 hours earlier.
Iizuka spoke highly of Trump's promise to include the abduction issue in the summit agenda along with the denuclearization of North Korea, hoping the return of the abductees will be ensured at the U.S.
South Korean news network YTN reported expectations are running high the two sides will reach an agreement that reflect the atmosphere of accord in Singapore.
Just a few months ago, Kim was an worldwide pariah accused of ordering the killing of his uncle, a half-brother and scores of officials suspected of disloyalty.
The system has been set up on North Korea-China border since June 8 with armed soldiers from both countries on special emergency alert, as Pyongyang has asked Beijing to step up security measures in the area, they said.
Its reference to denuclearisation of the peninsula has historically meant it wants the USA to remove its "nuclear umbrella" protecting South Korea and Japan - a proposal that could make these countries nervous.
Trump has also said he would raise the issue of Japanese citizens abducted by North Korea, after Japanese Prime Minister Shinzo Abe lobbied him in a meeting in Washington last week.
For Kim, the authoritarian leader of militarised state that has shunned contact with the outside world, the ultimate goal aside from security guarantees would be freedom and support to develop an impoverished economy.
Kim says through an interpreter that it "was not easy to get here" and that there "were obstacles but we overcame them to be here".
Kelsey Davenport, director for Nonproliferation Policy at the Arms Control Association, said there were signs that the gaps between the two sides were narrowing but there was also risk.