Singh, who is the first Indian Army Chief to visit China in nine years, held a number of meetings, starting with Chief of General Staff of People's Liberation Army (PLA) General Fang Fenghui.
Singh held wide-ranging talks with Fang, discussing increasing military to military contacts, implementation of last year's Border Defence Cooperation Agreement (BDCA) and stepping up high level exchanges between the two militaries, Indian officials said.
This year is the "Year of Friendly Exchanges" between China and India.
The two militaries will hold a series of activities, including the fourth joint anti-terrorism exercise due to be held in India.
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During their meeting Feng and Singh reaffirmed peace and tranquilly along the border.
BDCA was signed last year to address tense standoffs arising out of aggressive patrolling by the PLA along the over 4000 km long Line of Actual Control (LAC).
"Your visit is the first senior military delegation since the formation of India's new government. It reflects the great importance India attaches to bilateral relations," Fang said welcoming Singh, who is also the Chairman of the tri-services Chiefs of Staff Committee.
"India attaches the highest priority to the relations with China and committed to further developing friendly and cooperative relations with your country," Singh was quoted as saying.
The visit of Singh is part of increasing contacts between the two militaries which remained frozen for a long after the 1962 border clash.