South Korea said President Moon Jae-in would personally meet Mr Kim at the border at 09:30 (00:30 GMT) on Friday.
The historic summit will focus on the North's recent indications it could be willing to give up its nuclear weapons.
Mr Kim is set to cross the military demarcation line - a clearly defined marker of the official land border between the territories.
President Trump cast some doubt on that meeting on Thursday, saying in an interview with Fox News, "maybe the meeting doesn't even take place".
South Korea and the US say they are suspending annual military drills for a day while the summit takes place.
South Korea will send seven officials along with President Moon, including the ministers for defence, foreign affairs and unification.
Ahead of the summit, North Korean media praised Mr Kim for his work in the talks. »