The two clasped hands for a long while as they posed for photos in front of a row of USA and North Korean flags.
After taking their seats in a room where they will hold their first meeting of the day, the president briefly engaged in a question from a reporter who asked him how he was feeling.
"It's wonderful, when I said those things, when I said those damn things, when I went back home I got so many death threats", a tearful Rodman told CNN's Chris Cuomo while wearing a "Make America Great Again" hat.
On his stroll, Kim had been briefed on urban development plans.More news: Donald Trump, Kim Jong-un arrive in Singapore for historic summit
"T$3 he whole territory of the U.S.is within range of our nuclear strike", Kim said in his speech. "I also think I'll know whether it will happen fast", he said at the G7 summit.
"North Korea has previously confirmed to us its willingness to denuclearize, and we are eager to see if those words prove honest", Pompeo said.
Citing the return of American hostages and a suspension of North Korean nuclear testing, Trump said that "these pundits, who have called me wrong from the beginning, have nothing else they can say! I said: I'm going to bring a professional basketball team to you", Rodman said. "And it's my honor to be involved".
In the past few weeks, Trump has repeatedly said that he would simply walk out of the meeting with Chairman Kim, if he sensed that North Korea was not serious in denuclearization of the Korean peninsula.
The meeting carries not only potentially dire diplomatic risks, but high political stakes as well for a president who has framed the meeting in legacy-defining terms.
The North, experts believe, stands on the brink of being able to target the entire USA mainland with its nuclear-armed missiles, and while there's deep skepticism that Kim will quickly give up those hard-won nukes, there's also some hope that diplomacy can replace the animosity between the United States and the North.More news: Pixel 3 to have these features after all
The former Central Intelligence Agency chief said USA sanctions will remain in place until Washington verifies the North's denuclearization efforts. As I recently wrote, while certain sanctions on North Korea are discretionary, a key 2016 law specifically obligates the president to sanction people and entities complicit in human rights abuses in North Korea - not just those involved in weapons proliferation - and the Trump administration legally can't suspend sanctions more broadly unless North Korea implements key human rights reforms.
Sanders, Ambassador Sung Kim, and National Security Council Senior Director for Asia Matt Pottinger will join for the working lunch.
It is also unclear whether US officials will raise human rights issues in meetings with the North Koreans.
Alluding to the North's concerns that giving up its nuclear weapons could surrender its primary deterrent to forced regime change, Pompeo told reporters that the US was prepared to take action to provide North Korea with "sufficient certainty" that denuclearization "is not something that ends badly for them".
"We are hopeful this summit will have set the conditions for future productive talks", Pompeo said.More news: Bitcoin and Ethereum plummet after Coinrail hack
North Korea, however, has shown little appetite for surrendering nuclear weapons it considers vital to the survival of Kim's dynastic rule.