Kim landed at Singapore Changi International Airport and was greeted by Singapore's Minister of Foreign Affairs Vivian Balakrishnan.
The North Korean leader's limousine and accompanying motorcade wound its way through Singapore before arriving at the St. Regis Hotel, where he will be staying during the summit.
Kim was scheduled to meet with Singaporean Prime Minister Lee Hsien Loong Sunday evening, a meeting which will be streamed on the prime minister's Facebook page.
Trump is expected to arrive sometime around 8 p.m. local time. Singapore is 12 hours ahead of the United States' Eastern time zone.
The president left for Singapore straight from a brief visit to the G-7 summit in Charlevoix, Quebec, Canada on Saturday. Air Force One left around noon and make a quick stopover in Greece to refuel Saturday night.
The U.S. administration officials included on the trip are Secretary of State Mike Pompeo, Chief of Staff John Kelly, National Security Adviser John Bolton, Deputy Chief of Staff Joe Hagin, Deputy National Security Adviser Mira Ricardel, National Security Council-Asia Director Matt Pottinger, senior adviser Steven Miller, press secretary Sarah Sanders and NSC communications official Sarah Tinsley.
Kim Yong Chol, who has taken the lead in planning for the summit, including meetings in New York with Pompeo and at the White House with Trump, was among those in Kim's arrival party.
Also, along on the trip from North Korea's delegation is Ri Yong Ho, North Korea’s foreign minister; Ri Su Yong, vice party chairman on international affairs; Kim Song Hye, head of the Committee for the Peaceful Reunification of Korea of the Korean Workers’ Party; Hyon Song Wol, the leader of the Samjiyon orchestra; Kim Chang Son, who is sometimes referred to as Kim's chief of staff; and Choi Son Hui, the lead negotiator in advance meetings with the U.S. team at Panmunjom.