In a three-sentence joint statement, the two sides did not mention an exact date for the summit and provided no details on how to implement past agreements.
Efforts at creating trust between both countries will focus on additional family visits to the North and Seoul hosting North Korean orchestral exchanges.
The agreement was reached after the high-level talks between the two sides at the border village of Panmunjom.
Pyongyang has urged Washington to ease the economic punishments, but the United States says that can not happen until the North completely denuclearises.
In the April summit, the two leaders agreed to meet again in Pyongyang this fall.
"For South Korea, President Moon wants to improve inter-Korean ties but that's hard without progress in US-North Korea talks", he told AFP.
The South Korean unification minister, Cho Myoung-gyon, told reporters after the meeting that officials still had some work to do before agreeing on when exactly the summit would happen.
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In particular, neither the Google Assistant, a digital concierge, nor the Google Home smart speaker will be particularly useful. When logged into your Google account , the Location History setting allows you to toggle an option that records movements.
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The propaganda site also blamed Seoul for its efforts to stay close to its ally, . the US, in asking for exemptions to the sanctions for a slew of inter-Korean projects, . like restoring the military hotline along the West Sea and transporting the materials needed to open the joint-liason office in the North. Sanctions will remain in place until North Korea takes concrete and verifiable steps toward denuclearisation.
Moon's trip to Pyongyang will be the first in more than a decade.
After a peace offering by Kim Jong Un in January, Moon was able to orchestrate his own summits with Kim, which were followed by Kim and Trump's meeting in June.
Pyongyang has previously lavishly celebrated the occasion with military parades or mass games involving thousands of people performing acrobatic choreography in unison, and is expected this time to hold its first mass games for five years, boosting tourism revenues.
Calling the Singapore summit the "starting point", Harris reiterated Trump's belief in the North Korean leader's commitment to denuclearization and the communist state's potential to lift itself out of poverty and have a brighter future should Kim fulfill his commitment.
Last week, North Korea's Foreign Ministry also criticized "high-level officials" within the USA administration for insisting that North Korea give up its nuclear weapons before sanctions are eased, and for making "desperate attempts at intensifying the global sanctions and pressure".
But an obsession with declaring an end to the war - without any substantial progress in denuclearization - could jeopardize the entire peace process, as the North has not yet taken any substantial denuclearization action, like providing the inventory of its nuclear and missile arsenal.