26 February 2019 07:45 am
Mr Kim's green and yellow train pulled into Dong Dang station, where he will disembark and travel the remaining journey to Hanoi by car.
The second US-North Korea summit follows a historic first round of talks last year in Singapore.
Ceremonial guards and flag waving crowds lined a red carpet laid out for him at the station.
Mr Kim paused in front of the crowds for a brief moment, sticking his hand out to wave.
He is thought to be travelling with his sister Kim Yo-jong and one of his key negotiators, former General Kim Yong-chol.
This is Mr Kim's first visit to Vietnam. Mr Trump is scheduled to arrive later on Tuesday. (BBC)