The ship with six officers, 32 sailors and 30 trainees was welcomed by Bharatanatyam dance by students from the Global Indian International School here and musical plays by a band from Singapore's National Cadet Corps.
Sudarshini Commander T Rajasekhar said the ship will be playing host to Singaporeans, especially students, as a gesture of close relationships between India and Singapore.
"We are indeed honoured and privileged to be a part of the celebrations for 50 years of India-Singapore diplomatic relations," he said in a speech at the welcome ceremony.
Sudarshini will also conduct a one-day "Sail Training" for one officer and 17 junior officers from Singapore navy.
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Sudarshini's next port of call will be Port Klang in Malaysia as it continues its regular training programmes at seas.
Belonging to the First Training Squadron at the Southern Naval Command of the Indian Navy, Sudarshini is primarily engaged in training naval and NCC cadets on the seamanship but also goes on historic voyages around the world.
Since its official launch in 2011, the three-masted ship with a barque rig has been on significant voyages of national importance.