North Korea and the United States should commit to avoid antagonizing each other and take legal, institutional steps to guarantee it, Kim said according to a report by the Korean Central News Agency (KCNA).
The report added Trump said he "understood" and promised to halt joint U.S.-South Korea military exercises while talks with the North were continuing.
Kimm and Trump invited each other to their respective countries and both leaders "gladly accepted", KCNA reported.
Trump`s pledge to end joint exercises with South Korea without explicit concessions from North Korea to lower the military threat posed by Pyongyang, took South Korean and U.S. military officials by surprise.
"Kim Jong Un and Trump had the shared recognition to the effect that it is important to abide by the principle of step-by-step and simultaneous action in achieving peace, stability and denuclearisation of the Korean Peninsula," KCNA said.
There was little else mention of denuclearisation of North Korea in the statement, which mainly focused on stopping hostilities between North Korea and the United States.
Kim Jong Un said that if the U.S. side took "genuine measures for building trust", North Korea would continue to take "additional good-will measures of next stage commensurate with them".
The report noted that Kim and Trump walked together after lunch, "deepening friendly feelings" and held a "meaningful photo session" to commemorate the signing of the agreement.
Reporter: KCNA
Editor: Bambang Purwanto
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