President Donald Trump says he and Japanese Prime Minister Shinzo Abe "understand each other very well" as the leaders opened bilateral talks at Akasaka Palace.

Abe opened the event by telling Trump, "It was a tremendous honor for us to welcome you."

With that and other flattery, Abe said the leaders would leaders would begin a summit to discuss North Korea and other "challenges of the international community." Among other topics they'll discuss the upcoming G20 summit next month.

Trump said "We are working on the imbalance of trade." He added that the Japanese "are incredible people with a truly amazing prime minister who's my friend."

It's the second lengthy day of meetings for the pair, who spent Sunday playing golf together, taking in a sumo match and having a couples dinner with their wives.

Trump will be attending a state banquet in his honor Monday evening, and participating in a Memorial Day event Tuesday before heading home.