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North Korea has blown up a vacant inter-Korean liaison office in a symbolic act of aggression.
The meeting on Sunday might "only be a handshake," said Trump. "But that's okay; a handshake means a lot."
The move was part of a pact to reduce tension and build trust on the divided peninsula.
The soldier was unarmed and there was no exchange of fire, a South Korean military official says.
WHAT'S HAPPENING
The country also conducted its fourth nuclear test this year.
Welcome to the most heavily militarized border in the world.
These three cases show that the environment can sometimes benefit from conflict.
North Korea expressed regret for landmine blasts; South Korea agreed to end propaganda broadcasts. The two sides also agreed to arrange opportunities for family reunification.
While the two nations have technically been at war since 1953, tension has sharply increased of late.
South Korea accused the North of violating the armistice agreement that ended the 1950-53 Korean War.