The event was jointly organised by Embassy of India, Beijing Chinese People's Association for Friendship with Foreign Countries (CPAFFC) and Yogi Yoga, a popular yoga school.
The event is a cultural milestone, marking the first time yoga has been performed atop the Great Wall by a joint Indian and Chinese group of yogis, the embassy said in a statement.
Mr Singh, who wrapped up his visit to Beijing to attend the BRICS Foreign Ministers' meeting, took time out on his way to the airport to join the event.
Around 200 Chinese and Indian participants then carried out the Common Yoga Protocol, followed by a spectacular display of advanced yoga poses by 20 young Indian yoga ambassadors from the Morarji Desai Institute in India, who are specially visiting China for International Day of Yoga celebrations.
(Except for the headline, this story has not been edited by NDTV staff and is published from a syndicated feed.)