The two Koreas announced they would work with the United States and China this year to declare an official end to the 1950s Korean war and seek an agreement to establish "permanent" and "solid" peace in its place.
The declaration included promises to pursue phased military arms reduction, cease hostile acts, transform their fortified border into a peace zone, and seek multilateral talks with other countries including the United States.
"The two leaders declare before our people of 80 million and the entire world there will be no more war on the Korean peninsula and a new age of peace has begun," the declaration said.
Earlier, Kim became the first North Korean leader since the 1950-53 Korean War to set foot in South Korea after shaking hands with his counterpart over a concrete curb marking the border in the heavily fortified demilitarised zone between the countries.