Kim and Moon earlier smiled and chatted as they walked down a hallway and into a meeting room to finalize the joint statement, which also said that the leaders would push for a Korean Peninsula without nuclear weapons and to "eliminate all the danger of war".
President Moon was greeted by thousands of cheering North Koreans today as he arrived in Pyongyang for a crucial summit meeting with Kim Jong-un aimed at reviving the faltering progress towards denuclearisation.
"While Moon has expressed his desire to agree on a concrete plan on denuclearisation, we believe that the two nations still differ on this concept", said Ms Anwita Basu, an analyst at the Economist Intelligence Unit.
"North Korea has agreed to permanently dismantle the Dongchang-ri missile engine test site and launch pads in the presence of worldwide experts", Moon said after a two-day summit with his North Korean counterpart in Pyongyang.
The United States is pressing countries to strictly observe worldwide sanctions, which will likely be a key theme when Secretary of State Mike Pompeo hosts a Security Council meeting on North Korea on September 27 on the sidelines of the annual U.N. General Assembly.
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In May 2018, the Polish government offered to spend up to $2 billion to establish a permanent USA military presence in Poland. The two are expected to discuss trade, the military and security, according to the White House.
North Korea is seeking relief from crippling worldwide sanctions.
North Korea says it will also permanently dismantle its main Nyongbyon nuclear complex but only if the United States takes reciprocal measures, Mr Moon added. North Korea has been demanding a declaration formally ending the Korean War, which was stopped in 1953 by a ceasefire, but neither leader mentioned it as they read the joint statement.
"We are not afraid of future challenges".
The premiere of the latest version of the show, called "The Glorious Country", earlier this month featured video footage of Moon and Kim together at their first summit in Panmunjom - prompting the unusual sight of tens of thousands of North Koreans applauding images of the South's president.
At the beginning of the summit on Tuesday, Kim praised Moon for his work in helping the June summit with Trump come to fruition.
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At this same time during 2016, under Obama, about 8,300 Somali refugees had been allowed to resettle across the country. Officials say refugee settlement in the United States is very expensive.
Satellite pictures in August suggested workers were dismantling an engine test stand, in line with a promise already made to US President Donald Trump.
In Singapore, Kim declared his backing for the denuclearization of the peninsula, but no details were agreed and Washington and Pyongyang have since sparred over what that means and how it will be achieved.
The signing comes during a three day visit to Pyongyang by Mr Moon. The two leaders also announced plans to bid for a joint hosting of the Olympics, oddly enough.
North Korea first staged its mass games in 2002, when Kim's father, Kim Jong-il, was leader.
North Korea has embarked on an unprecedented series of meetings this year with both the South and the US.
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