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The North Korean leader wound down the window of his car and waved to his hosts in the Demilitarized Zone as he drove back after a colourful sound-and-light show at a closing ceremony.
Kim and Moon stood hand-in-hand for several minutes as the show climaxed with pictures of their historic handshake and other images from earlier in the day beamed onto the Peace House where their talks had taken place.
The delegations bid a lingering and warm farewell to each other, with the two leaders' wives embracing briefly.
Kim then climbed into his sleek black official car for the trip back across the border, joined shortly afterwards by his team of bodyguards who jogged beside the vehicle.