President Trump's historic summit with North Korean leader Kim Jong Un will take place June 12 in Singapore. 

The president made the announcement on Twitter just hours after he welcomed home three American prisoners released by Pyongyang. 

Trump -- along with first lady Melania Trump and Vice President Mike Pence -- met Kim Dong Chul, Kim Hak Song and Tony Kim when they arrived at Andrews Air Force Base in Maryland early Thursday.

Trump publicly thanked North Korean leader Kim Jong Un for releasing the prisoners, and said it is a sign of easing tensions as the two get set to meet on denuclearization in a forthcoming summit.

After the president emerged from a plane with the three Americans, he addressed the media, saying, "I really think he [Kim Jong Un] wants to do something."

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