President Donald Trump crossed the Demilitarized Zone separating North and South Korea on Sunday, June 30, becoming the first sitting U.S. president to step into North Korea.

A video recorded by NBC shows that President Trump entered the border at Panmunjom, an inter-Korean border village, while North Korean leader Kim Jong Un stepped forward to welcome him. The two leaders shook hands before Kim invited Trump to the North territory. Both strode pass the line, shook hands again and then walked back into South Korea.

Kim Jong Un invites President Trump to North Korea territory at the demilitarized zone on June 30, 2019. (Screenshot/NBC)

Standing beside Kim, President Trump told reporters he “feels great” to make the historic walk. Trump thanked Kim for coming after he offered an invitation via his social media account.

“This could be a very historic moment and I guess that’s what it is,” President Trump said. “I think the relationship that we’ve developed has meant so much to so many people.”

In a response, Kim praised Trump for a “courageous and determined act” that “means that we want to bring an end to the unpleasant past.”

The two leaders entered “Freedom House” on the South Korean side at the Demilitarized Zone (DMZ) to hold a private bilateral meeting, which stretched about 50 minutes. In his invitation on Twitter, President Trump said he just wanted to shake hands and say hello to Kim.

“We just had a very good meeting with Chairman Kim,” President Trump told reporters after the private talks, adding, “This was a very legendary, very historic day.”

President Trump with North Korean leader Kim Jong Un before reporters at the Demilitarized Zone, South Korea, on June 30, 2019. (Screenshot/NBC)

The president revealed that the United States and North Korea have designated teams to resume nuclear talks within weeks. He said he hoped the two sides would reach a comprehensive deal, but said, “Speed is not the object.”

President Trump also told reporters he invited Kim to visit the White House during their talks.

The president departed the DMZ and returned to Seoul where he will deliver brief remarks to U.S. troops at Osan Air Base.

Includes reporting from The Associated Press.