During his visit, General Singh held bilateral talks with his Nepalese counterpart General Rajendra Chhetri and other senior government officials on military and security issues.
He was visiting the Himalayan nation, leading a delegation of the Indian Army at the invitation of General Chhetri. The visit was aimed at boosting India's military and security ties with the landlocked country.
During his stay, General Singh paid a courtesy call to President Bidya Devi Bhandari and met Defence Minister Balkrishna Khand.
He also called on Prime Minister Prachanda.
Yesterday, he visited Rupandehi district in western Nepal yesterday, where he observed "Surya Kiran" - a joint military exercise held between Nepal and Indian armies, according to a statement issued by the Nepal Army Headquarters.
Such high-level visits by top Indian military officials have helped deepen military ties between the two countries as well as expand cooperation, the statement said.
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