Led by Deputy Inspector General A P Badola, the ship has visited Malaysia, the Philippines and Japan prior to Singapore.
DIG Badola hosted a reception for the Singapore coast guard, navy and members of the Indian diaspora.
India's High Commissioner Jawed Ashraf said the ICGS Samarth's and its crew's visit highlighted the ongoing defence cooperation between India and Singapore.
"Today they are here on a very important visit to build a bridge of friendship and goodwill with one of our foremost partners in the world, which is Singapore," he said.
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Ashrafemphasised the growing importance of joint exercises between India and Singapore as well as the region in keeping the sea lanes safe.
The High Commissioner praised Singapore's Navy and Coast Guard for its professionalism in maintaining marine safety and security in one of the most vital and sensitive sea lanes in the world and one of its most important ports.
Ashraf said that international engagement for Coast Guard was not only important for building mutual capabilities, but also for improving international coordination and cooperation in law enforcement and disaster response on seas or coastal areas.
In addition to piracy, trafficking and smuggling, sea-borne terrorism, which India had witnessed in November 2008, has become a potential threat for Southeast Asia, too, he said.
Jawed Ashraf also highlighted the important of Asian sea lanes as the region prospers.
"In the cyber age, too, peaceful, stable, secure, safe and clean seas and oceans remain critical for peace and prosperity in the world," he said, and noted that nowhere was it as important as it was in the Indo Pacific region, which required all countries in the region to work cooperatively in accordance with rules of the road and international law.