Trump calls stepping into North Korea an 'honor' after he became the first sitting U.S. president to do so

President Trump made history on Sunday when he became the first sitting U.S. president to step foot on North Korean soil.

Trump met North Korean leader Kim Jong Un at the demilitarized zone between North and South Korea, where the two shook hands before Kim invited Trump to cross the boundary into North Korea.

Trump said it was "a great honor" to enter the country, while Kim called the meeting a "very courageous and determined act."

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The two leaders then met for over 50 minutes and reportedly came to an agreement to reignite negotiations over North Korea's denuclearization process, which stalled after two previous meetings between Trump and Kim. Trump said the nuclear talks would resume "within weeks," but added that both sides will take their time.

"Speed is not an object, we want to see if we can do a really comprehensive, good deal," he said.

Trump said on Saturday he spontaneously decided to ask through Twitter whether Kim would be willing to meet while Trump was in Seoul for a scheduled visit with South Korean President Moon Jae-in.