US President Donald Trump (R) gestures as he meets with North Korea's leader Kim Jong Un (L) at the start of their historic US-North Korea summit, at the Capella Hotel on Sentosa island in Singapore on June 12, 2018. Obama was praised in 2014, though, when he insisted on an open news conference alongside Hu's successor, President Xi Jinping.
Mr Lee, for his part, thanked Mr Kim for coming to Singapore, the farthest the North Korean leader has travelled out of his country since assuming power in 2011.
The top U.S. and North Korean negotiators held a last-ditch meeting in Singapore on Monday to try to narrow the gap between the two sides on what denuclearisation by North Korea should look like.
Shortly after arriving in Singapore in the afternoon, Mr Kim, who is Chairman of the State Affairs Commission in North Korea, the nation's highest decision-making body, met Prime Minister Lee Hsien Loong for the first time.
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In Trump's and Kim's meeting on Tuesday, reporters were allowed access for just a few minutes at the beginning.
Joining Trump were Secretary of State Mike Pompeo, Chief of Staff John Kelly, National Security Advisor John Bolton, U.S. Ambassador to the Philippines Sung Kim, press secretary Sarah Huckabee Sanders, and Deputy Assistant to the President for Asian Affairs Matthew Pottinger.
It's "going to be tremendously successful", Mr. Trump said in introductory comments broadcast live on television.
"President Moon and President Trump agreed Trump and Kim will be able to make a great achievement if the two leaders come together to find a common denominator through frank discussions", Blue House spokesman Kim Eu-kyeom told reporters.
North Korean leader Kim Jong Un has landed in Singapore ahead of a summit with US President Donald Trump that could end a nuclear stand-off between the old foes and transform his impoverished country. That uncertainty appeared to carry over to the summit itself, where a "tight pool" was designated to witness Trump's and Kim's initial meeting. Asked Saturday about his goals, he said: "Well, I think the minimum would be relationship".More news: Fallout 76 Revealed, Prequel To The Previous Games
They are looking to hammer out a deal that may see North Korea giving up its nuclear weapons programme in exchange for security guarantees.
He added that Singapore had been following developments on the Korean peninsula for a very long time.
Shortly before the summit began, Mr Trump tweeted that his top economic adviser, Larry Kudlow, had suffered a heart attack and was in hospital.
Still, he said, Mr. Trump's aim with Mr. Kim was clear: to build trust by creating a personal bond.More news: Kim Jong Un Impersonator Gets Snared in Singapore Security Net