At approximately 10.30 a.m., North Korean leader Kim Jong Un stepped across the demarcation line that marks the border between the two countries in the demilitarized zone.
This is the first time any leader of North Korea has visited the South.
Kim then encouraged Moon to step into North Korea, and laughter could be heard in the crowd as the two leaders stepped into North Korea for a photo and then back again.
The two leaders are meeting for the third inter-Korean summit which will take place at the Peace House in South Korea on Friday.
The moment was highly scripted.
Earlier in this week officials re-enacted the meeting of the two leaders at the exact time they would shake hands to ensure the positition of the sun wouldn't interfere with the live broadcast of the moment. Stand-ins also helped practise the walking route for the duo and help decide which way they would face for photographs.