South Korea has said the joint drill, due to finish on Tuesday, was in response to North Korean nuclear and missile provocations and to show any such developments by Pyongyang can be repelled with "overwhelming force".
It's the same border area which was visited by US Secretary of Defense James Mattis less than a month ago. Seo said that shortly after, one North Korean soldier was seen crossing toward the South on a jeep.
During his trip, Trump struck a tough tone on North Korea, calling for an end to its nuclear program and saying "we hope to God we never have to use" the military strength the United States has on the Korean Peninsula.
The four-day joint naval exercises by the USA and South Korea, which began Saturday in waters off the South's eastern coast, were described by military officials as a clear warning to North Korea.
While on average more than 1,000 North Koreans defect to South Korea every year, most travel via China and it is unusual for a North Korean to cross the land border with South Korea.
The most famous incident was in 1976, when two American army officers were killed by ax-wielding North Korean soldiers.
The four-day simulated exercises, which will go on until Tuesday, 14 November, will include participation from South Korean naval forces as well.
South Korean soldiers did not fire their weapons, but Monday's incident occurred at a time of high animosity over North Korea's nuclear program.
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Panmunjomis where an armistice was signed to pause the Korean War.
Although there have been a handful of defections across the DMZ in recent years, escapes through the tense Joint Security Area are rare.
The North Korean ambassador accused the council of "turning a blind eye to the nuclear war exercises of the United States who is hell bent on bringing a catastrophic disaster to humanity". That prompted Washington to send nuclear-capable B-52 bombers to intimidate the North before the adversaries pulled back from the brink of conflict.
The 1984 exchange of gunfire happened after North Korean soldiers crossed the border and fired, according to the U.N. Command. In 1998, a North Korean solider fled to South Korea via Panmunjom.
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