The recorded South Korean media pool footage showed the two leaders aboard a convertible black limousine smiling and waving their hands as residents, many wearing traditional hanbok dresses, chanted and waved plastic flowers.
In this week's meeting with Kim, Moon will explore the possibility of linking an end-of-war declaration to a North Korean declaration of nuclear and missile facilities.
"It is better to postpone economic projects involving the North until after negotiations to remove its nuclear program make substantial progress", it said in an editorial. "What I seek is not a temporary change that may be decided by worldwide conditions, but irreversible and lasting peace that will literally not shake despite how global conditions change", Moon said, according to pool reports.
With ambitious cross-border economic cooperation projects stalled by worldwide sanctions on North Korea, Moon is focusing on reaching a specific agreement to ease military tensions and build a peace regime, experts said.
Moon's remarks came one day before he begins a three-day trip to Pyongyang for what would be his third bilateral summit with North Korean leader Kim Jong-un.
The US is pressing for the North's "final, fully verified denuclearisation", while Pyongyang wants a formal declaration that the 1950-53 Korean War is over and has condemned "gangster-like" demands for it to give up its weapons unilaterally.
"Given U.S. scepticism that South Korea may have oversold Kim's willingness to denuclearize, how President Moon delivers his sincerity toward denuclearization to Trump would be a key factor for the fate of their second summit", Lee told a forum on Monday in Seoul.
The inter-Korean summit will be a litmus test for another meeting Kim has recently proposed to US President Donald Trump, giving clues to whether Kim is serious about denuclearisation, a commitment he made at their first encounter in June.
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More ambitious is Moon's attempt to unlock an impasse between Pyongyang and Washington over who should make the next move in their dialogue over peace and denuclearization.
While it is still uncertain whether the United States would accept the idea of "declaration-for-declaration exchange", Kim of Kyungnam University said it would help to have North Korea and the U.S. "almost simultaneously declare" North Korea's nuclear arsenal and the end of the Korean War. On Wednesday, Moon and Kim will hold their second meeting.
Moon's plane left a military airport near Seoul for Pyongyang, the North Korean capital, on Tuesday morning.
Those could include an agreement to pull back some guard posts at the heavily mined frontline, disarm an area of the border near the shared village of Panmunjom and reduce the chance of clashes along their shared maritime boundary.
"It is the United States who changed the narrative about the end-of-the-war declaration and created a distorted frame to the worldwide audience".
Ahead of the summit, North Korea's Korean Central News Agency (KCNA) in a statement said that the summit is an important opportunity in "further accelerating the development" in relations between the rivals, reported AP.
Whatever the outcome of the third inter-Korean summit, its impact on the alliance between the US and South Korea is likely to be limited. Moon will fly to North Korea's capital on September 18 for a third summit with Kim. -North Korean confrontation. But the success of his efforts will continue to depend on the ability of the United States and South Korea to coordinate effectively. So far, the US wants concrete steps by the North to prove denuclearization, for example, a "list" of nuclear facilities. "Because of his legal issues, [Lee] can not help but go North".