Media playback is unsupported on your device Media caption The moment Kim Jong-un crossed into South Korea.
Kim Jong-un has pledged a "new history" in relations with his neighbour as he became the first North Korean leader to set foot in South Korea since the end of the Korean War in 1953.
In a moment rich with symbolism and pomp, South Korean leader Moon Jae-in and Mr Kim shook hands at the border.
The leaders were met on Friday by an honour guard in traditional costume on the South Korean side.
Mr Kim then invited the South Korean president to step briefly across the demarcation line into North Korea, before the pair stepped back into South Korea - all the while holding hands.
Mr Kim is accompanied by nine officials, including his powerful and influential sister Kim Yo-jong.
The rapprochement began in January when Mr Kim suggested he was "open to dialogue" with South Korea. »