Trump, 71, landed at Paya Lebar Airbase on board Air Force One after cutting short his time at the G7 summit in Canada.
Singapore's foreign minster Vivian Balakrishnan tweeted a selfie of himself with Mr Kim during the surprise walkabout.
Dressed in his trademark, ill-fitting, dark gray Mao suit, and sweating in Singapore's tropical humidity, Kim visited some of Singapore's most famous tourist attractions.
Kim, who met Singaporean Prime Minister Lee Hsien Loong on Sunday after arriving, thanked him for hosting the event. "This says something about Singapore's relations with America and North Korea, and also our standing in the global community".
DPRK stands for the North's formal name, the Democratic People's Republic of Korea. "Thanks to your honest efforts. we were able to complete the preparation for the historic summit".
The two leaders have had an extraordinary up-and-down relationship over the past 18 months.
The world will be watching to see if US President Donald Trump can broker a deal to denuclearise the Korean Peninsula.
In return, Kim, said to be in his mid-thirties, called Trump "mentally deranged" and a "dotard".
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The United States and North Korea have been in a technical state of war for decades after the eruption of the 1950-1953 Korean War, which pitted USA -led U.N. troops backing Seoul against Pyongyang's forces that were aided by China. The North Korean autocrat's every move will be followed by 3,000 journalists up until he shakes hands with Trump.
When asked upon landing in Singapore how he was feeling about the encounter, Trump gave a brief answer: "Very good".
The story was reported the front page of the ruling party's newspaper and was the only item on Monday's first news broadcast on Korean Central Television, which for many in the North is the only channel available.
Meanwhile, diplomats from the United States and North Korea met behind closed doors at The Ritz-Carlton hotel, in a bid to narrow their differences ahead of the Trump-Kim summit tomorrow.
Larry Kudlow, Trump's economic adviser, said Sunday on CNN that Trudeau's criticism had damaged Trump's prestige before the summit - and that's why Trump reacted so strongly.
The event, a spectacle that has brought thousands of reporters and even basketball bad boy Dennis Rodman to the tiny South Asian country to catch a glimpse of the action, has leapfrogged decades of cautious diplomatic initiatives between Washington and Pyongyang - but in a news conference Saturday, the president declined to clarify the objective of the meeting aside from starting a conversation.
Pompeo, who was in Singapore, did not go into specific details about how the USA would secure the country, but he said talks between the US and North Korea are moving briskly.
"It will certainly be an exciting day and I know that Kim Jong-un will work very hard to do something that has rarely been done before".
The first hurricane, and the first major hurricane, of 2018 has formed (a major hurricane is considered a Category 3 or higher). National Oceanic and Atmospheric Administration is forecasting a near or above normal Atlantic hurricane season for 2018.
Trump, who left the G7 meeting before it ended, that tariffs would harm industries and workers on both sides of the U.S. Mere hours earlier, Trudeau had announced that all G7 countries had signed the joint communique.
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The AP reported that out of the approximately 170 American staffers in the consulate, 150 have undergone the examinations. The incidents have raised fears the unexplained issues that started in Cuba in 2016 have expanded to other countries.
And when you consider his 316 appearances, scoring 79 goals, you'd think he will be going down as as a true City legend. Maybe we Africans are not always treated by some in the same way as others. "He's too intelligent to be caught".
Special Operations Command (SOC) police officers patrol Orchard Road ahead of the Trump-Kim summit in Singapore , June 10, 2018 . Both leaders were greeted on arrival by Singapore Foreign Minister Vivian Balakrishnan. "I would say that would be the minimal".
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