The two leaders met at the Capella Hotel on the resort island of Sentosa, Singapore. After an historic handshake, the pair held a one-on-one meeting away from the cameras with just their interpreters. On leaving the meeting, Donald Trump said it was "very, very good" and that they had an "excellent relationship".
The pair then proceeded to a larger meeting along with officials from their delegations. The US leader was joined by his chief of staff, John Kelly, secretary of state, Mike Pompeo and national security adviser, John Bolton.
At the start of a meeting seeking ways to end a nuclear stand-off on the Korean peninsula, Mr Trump told the North Korean leader: "Working together we will get it taken care of... we will solve it."
In a press conference, Trump revealed that Kim has signed a document which will see the complete denuclearisation of North Korea. One of the more controversial moments from Trump came when he was praising the North Korean leader, saying he was very talented.
One member of the press asked why are you so comfortable at calling Kim "very talented"?
Trump says he is, he took over when he was only 26. He said he did not say he was "nice".
Whatever happens, this day is certainly one that will go down in the history books. Here are some of the best reactions from this momentous meeting of two leaders: