It marks Kim's first visit to Seoul since he was appointed the chief US nuclear envoy last month in a signal of Washington's readiness to reengage with Pyongyang.

Kim's trip came days after North Korean leader Kim Jong-un said his country should be ready for dialogue and more importantly, confrontation with the United States, and stressed the "stable control" of the Korean Peninsula situation in his first message toward President Joe Biden's administration.

On Monday, Kim is scheduled to meet bilaterally with South Korea’s top nuclear envoy, Noh Kyu-duk, and join a three-way meeting involving Japan's nuclear envoy, Takehiro Funakoshi, according to South Korea’s foreign ministry.