Mr Trump, eager for a foreign policy win to distract from domestic troubles, has been keen for a second summit despite a lack of significant moves by North Korea to give up its nuclear weapons programme. He and Mr Biegun have stressed the economic benefits to North Korea if it does so.
The Singapore summit yielded a vague commitment by Kim to work toward the denuclearization of the Korean peninsula, where US troops have been stationed since the Korean War.
While in the US view North Korea has yet to take concrete steps to give up its nuclear weapons, Pyongyang complains that Washington has done little to reciprocate for its freezing of nuclear and missile testing and dismantling of some facilities.
Pyongyang has repeatedly urged a lifting of punishing US-led sanctions, a formal end to the war, and security guarantees.
South Korea’s Yonhap News agency quoted that country’s foreign ministry as saying that Mr Biegun arrived back in Seoul from Pyongyang on Friday evening, Seoul time, and would meet with South Korean Foreign Minister Kang Kyung-wha on Saturday morning to provide a briefing on the results of his talks.