Donald Trump and Kim Jong Un met in a historic summit signs document

US President Donald Trump and North Korean leader Kim Jong Un met in a historic summit on Tuesday in Singapore where they signed a document that Trump described as "important" and "comprehensive," to conclude their meetings.

The document, which offers few details about how the aims will be accomplished, says North Korea commits to working towards denuclearization.

Trump said he "absolutely" will invite Kim to the White House and thinks the summit went "better than anybody could have expected."

As they began the summit, Trump said he thinks he and Kim will have a "terrific relationship," and Kim, through a translator, said North Korea had to overcome a number of "obstacles" to get to this moment.

Trump and Kim participated in a one-on-one meeting, with translators only, followed by an expanded meeting including their top advisers, and a working lunch.

According to the document Trump and Kim signed, US Secretary of State Mike Pompeo and a high-level North Korean official will hold "follow-up" negotiations at the earliest possible date, "to implement the outcomes of the U.S.-DPRK summit."

The document lists four provisions, including reaffirming North Korea's "commitment to working toward complete denuclearization of the Korean peninsula."

Here are the four components of agreement outlined in the document:"

-The United States and the DPRK commit to establish new U.S.-DPRK relations in accordance with the desire of the peoples of the two countries for peace and prosperity."
-The United States and the DPRK will join their efforts to build a lasting and stable peace regime on the Korean peninsula.
-Reaffirming the April 27, 2018 Panmunjom Declaration, the DPRK commits to work toward complete denuclearization of the Korean peninsula.
-The United States and the DPRK commit to recovering POW/MIA remains, including the immediate repatriation of those already identified.

Trump, speaking to reporters briefly, was asked what surprised him most about Kim.

Great personality and very smart -- good combination, Trump said.

Trump also declared Kim a very worth negotiator.

I learned that he's a very talented man. I also learned that he loves his country very much, he said.

This summit isn't the last, said Trump who said he expects to meet with Kim "many" times.

Speaking on the summit, Kim said;

Today we had a historic meeting and decided to leave the past behind, Kim said through a translator, at the signing table.

The world will see a major change.

Asked if North Korea agreed to denuclearize, Trump said they would be starting that process quickly.