US President Donald Trump and his Russian counterpart, Vladimir Putin, have finally met for the first time at the G20 summit in Hamburg, Germany.

A video shared on social media shows the moment the two leaders, who recently fell out due to disagreements over geopolitical situations in Europe and the Middle East, shake hands for the first time since Trump became president in 2016.

World leaders, including British Prime Minister Theresa May, are meeting for the two-day summit to discuss issues including climate change, security, trade and migration.

Both Trump and Putin have said they will seek to improve relations, which had deteriorated following disagreements over the war in Syria and the crisis in the Ukraine. The US has also accused Russia of meddling with the country's 2016 presidential elections.

The two leaders are are expected to meet on Friday afternoon, 7 July, for at least 30 minutes.

Meanwhile, a new wave of anti-G20 protests is expected to take place in Hamburg on Friday after riot police clashed with masked protesters on Thursday night. Authorities expect at least 100,000 people to protest over the course of the summit.

Ahead of the G20 summit, Trump called on Putin to end Moscow's "destabilising activities" in Ukraine. He also urged his counterpart to stop supporting "hostile regimes" in the Middle East and join the "community of responsible nations" in their fight against common enemies in Iran and Syria.

"We urge Russia to cease its destabilising activities in Ukraine and elsewhere, and its support for hostile regimes, including Syria and Iran, and to instead join the community of responsible nations in our fight against common enemies, and in defence of civilisation itself," Trump said.

Donald Trump Vladimir Putin G20 Hamburg
The moment Donald Trump met Vladimir Putin for the first time, at the G20 summit in Hamburg, GermanyFacebook.com/Bundesregierung