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Apr. 11, 2015: US President Barack Obama and Cuban President Raul Castro shake hands during their meeting at the Summit of the Americas in Panama City, Panama. (AP)

President Obama held a historic formal meeting with Cuban President Raul Castro Saturday, the first between US and Cuban leaders in over half a century, pledging to 'turn the page' and develop a new relationship between the two countries.

The two leaders shook hands Friday at the start of the summit and met Saturday on the sidelines of the a Panama City convention center.

Obama and Castro met for about an hour, with Obama telling reporters before the meeting that, after 50 years of unchanged policy, it was time to try something new and to engage with both Cuba's government and its people.

"What we have both concluded is that we can disagree with a spirit of respect and civility," Obama said. "And over time, it is possible for us to turn the page and develop a new relationship between our two countries."

Obama thanked Castro "for the spirit of openness and courtesy that he has shown during our interactions" and pledged to do whatever he could to "make sure that the people of Cuba are able to prosper and live in freedom and security."

Castro, for his part, said he agreed with everything Obama had said. However, he added the caveat that they had "agreed to disagree" at times. Castro said he had told the Americans that Cuba was willing to discuss issues such as human rights and freedom of the press, maintaining that "everything can be on the table."

"We are disposed to talk about everything -- with patience," Castro said in Spanish. "Some things we will agree with, and others we won't."

Not since 1958 have a U.S. and Cuban leader convened a substantial meeting. Dwight Eisenhower and Fulgencio Batista met that year, and the following year, former Cuban President Fidel Castro met with Richard Nixon, who was vice president at the time.

The flurry of diplomacy was aimed at injecting fresh momentum into their months-old plan to restore normal relations between their countries.

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Obama holds historic meeting with Cuba's Raul Castro, pledges to 'turn the page' - VIDEO: Obama legitimizing a ...