Kim could be seen smiling as he looked inside the vehicle.
At the heart of negotiations was the "complete, verifiable and irreversible denuclearization" of the Korean peninsula in exchange for "security guarantees" for the North's mercurial leader, Kim Jong Un.
The State Department is declining to release any additional information about the calls.
US President Donald Trump says his historic talks with North Korean leader Kim Jong-un that ended in a joint agreement were "tremendous".
"You know, he can have a membership at Trump National", Graham said on CBS, referring to Trump's golf course.
The US State Department mistakenly made Singapore part of neighbouring Malaysia in a note issued in connection with Tuesday's North Korea-U.S. summit and published on its website, sparking snide comments on social media.
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Earlier, before a row of alternating United States and North Korean flags, the leaders shared a warm 13-second handshake at a Singapore island resort, creating an indelible image of two unorthodox leaders as they opened a conversation that could determine historic peace or raise the specter of a growing nuclear threat. This year, the springtime war games were conducted in April, delayed due to South Korea hosting the Winter Olympics.
Singapore's Ministry of Foreign Affairs (MFA) released a statement saying the two discussed mutual relations and the situation on the Korean peninsula, with Prime Minister Lee thanking Kim for his and Trump's "bold and admirable decision" to hold the summit.
"I think it's gonna be really successful, and I think we will have a terrific relationship, I have no doubt", Trump said.
President Donald Trump's announcement that the USA will stop military exercises with South Korea startled Tokyo and Seoul, unsettled United States lawmakers, and took at least some parts of the Pentagon by surprise.
During the summit, Mr. Trump and Mr. Kim signed a joint statement in which the North Korean leader broadly "reaffirmed his firm and unwavering commitment to complete denuclearization of the Korean Peninsula".
"It's going to be a lot different than it was in the past", Trump concurred.