DPRK leader Kim Jong Un is leaving Singapore Tuesday night following a historic summit with US President Donald Trump.

Onlookers gathered by the roadside to watch his motorcade arrive at the airport. It came hours after Trump boarded a plane to return to the US. Both leaders hailed the summit as a breakthrough in relations between Cold War foes. The agreement they signed made important promises, but contained few details of how the DPRK would denuclearize or what security guarantees the US would offer. CGTN's Chuck Tinte has more.

A final wave goodbye.

But the work of achieving peace in the Korean Peninsula has only just begun.

In a press conference following Tuesday's historic summit, Donald Trump said DPRK leader Kim Jong Un will take steps towards denuclearization.

DONALD TRUMP US PRESIDENT "Chairman Kim and I just signed a joint statement in which he reaffirmed his unwavering commitment denuclearization of the Korean Peninsula. We also agreed to vigorous negotiations to implement the agreement as soon as possible."

In exchange, Washington committed to providing security guarantees to the DPRK. On the issue of the seven-decade US military presence in South Korea. Trump said that although he wanted to bring American soldiers home, this was still not a part of the equation. However, he said Washington and Seoul would be stopping what he called "provocative" war games. On sanctions against the DPRK.

DONALD TRUMP US PRESIDENT "The current state of affairs cannot endure forever, people of Korea are profoundly talented, gifted. They share the same heritage, destiny. But to realize their amazing destiny, the menace of nuclear weapons will now be removed. In the meantime, the sanctions will remain in effect."

Pyongyang, for its part, was said to have promised to begin destroying a major missile testing site -- a pledge not mentioned in the joint statement but agreed upon after the signing. But while the historic summit ended with a lot of promises, critics argue it light on substance, giving no concrete details. Chuck Tinte, CGTN.