At the signing, Trump said he and Kim have created a 'very special bond' while the North Korean leader vowed to 'leave the past behind'.
North Korea on Tuesday committed 'complete denuclearisation of Korean Peninsula' in a comprehensive joint document signed by US President Donald Trump and North Korean leader Kim Jong-un at the end of the historic Singapore summit.
The document said that the US will provide 'security guarantees' to North Korea and the two countries will establish 'new relations'.
"President Trump committed to provide security guarantees to the DPRK (North Korea), and Chairman Kim Jong-n reaffirmed his firm and unwavering commitment to complete denuclearization of the Korean Peninsula," the text of the document said.
"The United States and the DPRK commit to establish new US-DPRK relations in accordance with the desire of the peoples of the two countries for peace and prosperity," it further stated.
The document adds that the United States and North Korea will join their efforts to build a lasting and stable peace regime on the Korean Peninsula.
"The United States and the DPRK commit to hold follow-on negotiations, led by the US Secretary of State, Mike Pompeo, and a relevant high-level DPRK official, at the earliest possible date, to implement the outcomes of the US-DPRK summit," the document, which President Trump Trump described as "pretty comprehensive", said.
It, however, did not give any details on how the denuclearisation would be achieved neither did it provide a timeline. The document also made no mention of the international sanctions which have imposed on North Korea for pursuing its nuclear weapons programme.
There is also no reference to finally signing a peace treaty. The combatants of the 1950-53 Korean War are technically still at war, as the conflict, in which millions of people died, was concluded only with a truce.
Trump and Kim have committed to cooperate for the "development of new US-North Korea relations and for the promotion of peace, prosperity, and security of the Korean Peninsula and of the world."
Earlier at the signing, Trump said he and Kim have created a 'very special bond' while the North Korean leader vowed to 'leave the past behind'.
Trump said the process of denuclearisation would happen "very, very quickly", adding that the relationship with North Korea would be very different.
“This is going to lead to more and more and more,” Trump said.
Asked whether he would invite Kim to the White House, Trump said: "Absolutely, I will."
"We'll meet again and we'll meet many times," Trump said when asked if he and Kim will meet again in the future.
Kim said the two leaders had a historic meeting “and decided to leave the past behind. The world will see a major change.”
Earlier, two leaders met for a one-on-one meeting and then for delegation level talks as Kim described the summit as "a good prelude to peace".
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 "Trump walks out with Kim Jong-UNafter taking part in a signing ceremony at the end of the summit in Singapore")
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