He said this was again a "subtle gesture" from Trump to gain sympathy, with gentle touches to the North Korean's shoulder and back.
However, it now appears that the U.S.is confident tings are going smoothly. He can't do that.
While President Trump has spoken positively about the upcoming summit, he has been vague on details of what they might be able to actually achieve.
There was no word on how Trump was spending the night before the summit.
The summit is not expected to last beyond Tuesday, with both leaders set to leave Singapore shortly after concluding their meetings.
"When I got home (from North Korea in 2014), I got so many death threats". In that way, the summit has already been a victory for Kim even if no agreement is reached.
Accompanied by senior officials, the leaders of both countries had just dined on avocado salad, fresh octopus, short rib and braised cod and, Mr. Trump said, "we're going right now for a signing".
Trump initially touted the potential for a grand bargain with North Korea to rid itself of a nuclear missile programme that has advanced rapidly to threaten the United States, insisting he would swiftly achieve what previous USA administrations have failed to do.
Go into the meeting with Kim with your "heart on the table", he advised Trump.
"It's gonna be a great discussion and I think tremendous success", Trump said.
But a war would mean devastating casualties, including of American troops in South Korea, and American cities would also be at risk of suffering a nuclear strike because of the North's recent advances.
Rodman claimed that several officials, including former President Barack Obama, brushed him off and did not take his trips to North Korea seriously: "Obama didn't even give me the time of day", Rodman said.
Professor John Hajek from the University of Melbourne's School of Languages and Linguistics said the US President was "doing all the talking" and had the "upper hand" when the two met for their historic meeting.
The summit is scheduled to begin at 9am, the White House said.
Rodman said Kim, who was educated in Switzerland, "understands bits and pieces" of English.
AP media relations director Lauren Easton said that the outlet was "troubled" by the press' limited access to some of the events. They will be joined only by translators and will spend a couple of hours before admitting their close advisers to the meeting.