Trump immediately grumbled about the media to Kim Jong Un

The menu for a working lunch served to U.S. President Donald Trump and North Korea's leader Kim Jong Un and their delegations during their summit at the Capella Hotel on Sentosa island in Singapore

US President Donald Trump and North Korean leader Kim Jong-un shake hands at the start of a historic summit at Capella Hotel on Sentosa Island, Singapore.

This is the furthest Kim is known to have traveled since he came to power in 2011 and there has never previously been a meeting between a USA president and a North Korean leader.

USA officials and the North Korean state news agency struck a hopeful tone as the meeting approached, while negotiators from both countries met privately in the last hours to iron out agreements, such as over the definition of denuclearisation and the terms under which Pyongyang might agree to dismantle its nuclear arsenal.

"We are going to have a great discussion and I think tremendous success".

Kim Jong-un and Donald Trump had barely exchanged pleasantries outside the Capella hotel when their mutual friend Dennis Rodman appeared on TV to provide a characteristically freaky sideshow to the main event in Singapore. The North has faced crippling diplomatic and economic sanctions as it has advanced development of its nuclear and ballistic missile programs.

"North Korea has previously confirmed to us its willingness to denuclearize, and we are eager to see if those words prove honest", Pompeo said.

The White House later said discussions with the North had moved "more quickly than expected" and that Trump would leave Singapore on Tuesday night after the summit, 15 hours earlier than planned.

Both leaders first emerged at 9:03 a.m. local time, walking along a bright red carpet from separate sides of a staging location at the Capella Hotel resort on Sentosa Island to shake hands with a backdrop of US and North Korean flags.

There was another handshake as they sat down for their working lunch with top aides and an exchange of niceties across the table.

North Korea, however, has shown little appetite for surrendering nuclear weapons it considers vital to the survival of Kim's dynastic rule. I couldn't go home.

"Meetings between staffs and representatives are going well and quickly....but in the end, that doesn't matter".

Many analysts are skeptical that Kim will agree to fully give up nuclear weapons because he sees them as essential to his nation's security and self-identity.

Trump mostly remained inside his Shangri-la hotel on the day before the summit, emerging only to meet with his Singaporean counterpart at the presidential palace. China and South Korea would have to sign off on any legal treaty.

Pompeo did say the United States is "prepared to take what will be security assurances that are different, unique that America has been willing to provide previously".

Pompeo, who led the outreach as Central Intelligence Agency director, traveled twice to North Korea for preliminary talks. Past nuclear deals have crumbled over North Korea's reluctance to open its doors to outsiders.

This was the first meeting between the two leaders - one a 71-year-old billionaire businessman democratically elected to head a superpower; the other a boyish heir handed the reins of a brutally oppressive dictatorship.

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