US President Donald Trump and North Korea’s Kim Jong-un have come together for a momentous summit which saw them commit to the "complete denuclearisation of the Korean peninsula".
The document also committed to recovering and repatriating the remains of those killed during the Korean War, and to "building a lasting and stable peace regime" on the Korean peninsula.
It also stated that the two countries would establish a "new relationship".
A joint document added that US Secretary of State Mike Pompeo and a senior North Korean official would hold follow-up talks as soon as possible.
In a meeting that seemed unthinkable just months ago, the leaders met at a Singapore island resort, shaking hands warmly in front of a row of alternating US and North Korean flags.
They then moved into a roughly 45-minute one-on-one meeting, joined only by their interpreters, before including their advisers.
For all the upbeat talks and document signing, it remains to be seen what, if any, concrete results the sit-down would produce.
The unprecedented meeting seemed unthinkable just months ago, with the US President threatening North Korea with "fire and fury" over its nuclear weapons programme and increasing sanctions on the reclusive state,
Meanwhile, Mr Kim called Mr Trump "mentally deranged" and a "dotard".
Alluding to the past tensions, speaking through an interpreter, Mr Kim said it had not been "easy to get here" and that there "were obstacles but we overcame them to be here".
However, at the beginning of 2018, Mr Kim indicated a thawing of international relations, sending North Korean athletes to the Winter Olympics in South Korea, with the two nations walking into the opening ceremony as a joint team and a shared flag.
Critics of the summit leapt at the handshake and the moonlight stroll Mr Kim took on Monday night along the glittering Singapore waterfront, saying it was further evidence that Mr Trump was helping legitimise Mr Kim on the world stage as an equal of the US President.
Mr Kim has been accused of horrific rights abuses against his people.
During his stroll, crowds yelled out Mr Kim’s name and jostled to take pictures, and the North Korean leader posed for a selfie with Singapore officials.