The North Korean leader was joined by his wife Ri Sol-Ju and sister Kim Yo-jong, for the four hour session designed to advance inter-Korean relations.
South Korean security adviser, Chung Eui-yong told local media North Korea committed to denuclearising the Korean peninsula.
“The North side clearly affirmed its commitment to the denuclearisation of the Korean Peninsula and said it would have no reason to possess nuclear weapons should the safety of its regime be guaranteed and military threats against North Korea removed,” he said.
He added that the North said it would hold “candid” talks with the US on how to reinstate bilateral ties, while agreeing there would be no further tests while talks are in progress.
“In addition, the North promised not to use not only nuclear weapons but also conventional weapons against the South,” he said.
The two Koreas also agreed to hold a landmark meeting of leaders at the border truce village of Panmunjom in late April. Chung led a 10-member South Korean delegation that met with Kim Jong Un during a two-day visit to Pyongyang.
The talks follow North Korean participation in the PyeongChang Winter Olympics where the two states marched as one under a joint flag into the opening ceremony. North Korean leaders also watched the games and sent the famed “army of beauties” cheer squad to take part.
News of the upcoming summit follows extreme tensions between North Korean and the US after a series of missile and nuclear tests and a war of words between Kim Jong Un and President Trump.