The North Korean leader was granted a grand, red-carpet ceremony at the Presidential Palace in Hanoi.
Kim Jong-un began his two-day Vietnam visit on Friday by holding bilateral talks with Vietnamese President and Communist Party leader Nguyen Phu Trong.
Kim thanked the President for his generosity and support during the North Korea-U.S. summit.
According to the North's state-run Korean Central News Agency, the two leaders discussed ways to enhance their friendship.
Kim emphasized the need to cooperate in all areas, including the economy, national defense, science, and culture.
The North Korean leader later met with Vietnam's Prime Minister and National Assembly Chairwoman.
The two sides wrapped up the evening with a dinner banquet.
Kim Jong-un was joined by top regime officials, including Kim Yong-chol, Ri Yong-ho,
his younger sister Kim Yo-jong, and famous North Korean singer Hyon Song-wol.
"This is the first visit to Vietnam by a North Korean leader in more than half-a-century. The previous visits were made by his grandfather Kim Il-sung back in 1958 and 1964."
It was also his first public appearance after his summit with U.S. President Donald Trump.
Pyeongyang and Washington were unable to ink a deal on denuclearization, with the U.S. saying North Korea made unreasonable demands for sanctions relief.
Park Hee-jun, Arirang News, Hanoi.