Noting his meeting with Kim will soon be followed by a meeting between U.S. President Donald Trump and the North Korean leader, Moon said the upcoming summits will mark a "great transition" in the history of the world.
The first face-to-face interaction between South Korean President Moon Jae-in and North Korean leader Kim Jong-un is only nine days away, in what will be an early test of Kim's willingness to give up his nuclear arsenal.
The two Koreas have yet to sign a peace treaty to replace the 1953 armistice that ended combat operations in the Korean war, with the U.S. and North Korea still at loggerheads after the three-year conflict ended.
"We expect the summit will confirm the denuclearisation will (of North Korea), and hope to have a comprehensive agreement with the North on the matter", he said.
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Moon has been reviewing a framework of the statement which could be called the April 27 declaration or the Panmunjom declaration, he said.
"A peace treaty should be signed in the inter-Korean summit so that we can build peace and ensure peaceful coexistence", Mr Do told foreign media.
Likely agenda topics include the North's nuclear weapons programme and general inter-Korean relations, but any joint economic efforts are unlikely to be discussed, he said.
Moon Chung-in said North Korea this time knows it can not reach a breakthrough deal with the United States unless it accepts American calls for complete, verifiable and irrevocable steps toward disarmament.
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The two Koreas agreed last month to install a hotline for their leaders to help defuse military tension and facilitate consultation.
A direct phone line between Moon and Kim may be connected around Friday, Moon's Chief of Staff Im Jong-seok said in a briefing on Tuesday, adding that it hasn't been decided when they will hold their first conversation.
Discussions are underway about live coverage of part of the meeting, Im said. "The United States will insist on complete, irreversible and verifiable North Korea's abandonment of its nuclear program in rigid timeframe".
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No peace treaty has been signed to replace the 1953 armistice that ended the Korean War, and the USA and North Korea have been at loggerheads since formal hostilities ended.