"A wonderful meeting" is how President Donald Trump is describing his get-together with North Korea's Kim Jong Un at the Demilitarized Zone between North and South Korea.

As Trump was leaving South Korea and ending his four-day trip to Asia, he tweeted about becoming the first American president to set foot in North Korea.

"Stood on the soil of North Korea, an important statement for all, and a great honor!" Trump said in his tweet.

After their meeting Sunday, Trump announced that he and Kim had agreed to resume stalled talks on denuclearization in the coming weeks.

Trump attended the Group of 20 summit in Osaka, Japan, where he held talks with Russia's Vladimir Putin and met with China's Xi Jinping . Trump and Xi decided to resume trade negotiations after talks broke down.

Trump then headed to South Korea, where he turned a planned visit to the Demilitarized Zone between North and South into a surprise get-together with the North's Kim Jong Un. The two leaders crossed the demarcation dividing the Korean Peninsula.

He says he and North Korea's Kim Jong Un "had a very productive meeting" there. And Trump says he tried to sell Kim on the prosperity he believes awaits North Korea if it gives up its nuclear program.

During his remarks to the service members, Trump called up to the stage both U.S. Secretary of State Mike Pompeo as well as Ivanka Trump, the president's daughter and a top White House adviser. He jokingly called them "beauty and the beast."