North Korean leader Kim Jong Un on Tuesday committed to work toward "complete denuclearization" of the Korean Peninsula in a document he signed with U.S. President Donald Trump in Singapore.

Trump said in return that he is committed to provide security guarantees to North Korea, in the joint statement of their first summit.

Kim and Trump agreed to form new relations between the two countries for peace and prosperity and work together to build a "lasting and stable peace regime" on the peninsula, it said.

The United States and North Korea characterized the summit as "an epochal event of great significance in overcoming decades of tensions and hostilities between the two countries and for the opening up of a new future."

The statement said the two countries will hold follow-on negotiations, led by the U.S. Secretary of State Mike Pompeo and an unspecified high-ranking North Korean official, at an early date.

U.S., North Korean leaders sign document at historic summit