The South Korean delegation led by national security director Chung Eui-yong was expected to head straight to Seoul's presidential palace to report to President Moon Jae-in. Moon's office is expected to hold a media briefing on the outcome of the visit today.
North Korean state media said the North and South Korean officials discussed a possible summit between Kim and Moon during a meeting and dinner hosted by Kim on Monday in Pyongyang.
The rival Koreas have been taking steps to repair ties strained by North Korean nuclear weapons and missile tests after the North reached out to the South over the recently concluded Pyeongchang Olympics.