The meeting assumes significance as the government and the Congress are at loggerheads over the passage of crucial legislations and Congress blocking the Goods and Services Tax (GST) Bill.
In a major reach-out to the main Opposition, the Prime Minister invited Gandhi and Singh over tea at his Race Course Road residence around 7 PM.
Finance Minister Arun Jaitley and Parliamentary Affairs Minister M Venkaiah Naidu were also present at the meeting.
The meeting lasted about 45 minutes.
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Jaitley had said yesterday that Modi is willing to speak to everyone to get the landmark indirect tax law through.
Jaitley, who needs Parliament approval for GST Bill in the winter session to roll out the new indirect tax regime as planned from April 1, had said he has spoken to "almost all Congress leaders" on the issue.
"We have absolutely no hesitation even at the level of the Prime Minister. We have never had in it in the past, we don't have it (now). He is willing to speak to everyone," he had said.
It is also opposed to states being given powers to levy additional 1 per cent tax on supply of goods over and above GST rate.