Rudy Giuliani made the remark at a business conference in Tel Aviv, Israel, with six days to go before the highly anticipated summit in Singapore.
"Kim Jong-un got back on his hands and knees and begged for it, which is exactly the position you want to put him in," Giuliani said, according to an AP transcript.
The former New York mayor was referring to when Trump canceled the summit last month in response to provocative North Korean statements.
"That's what has to happen with the Palestinian Authority," he said. "They have to be seeking peace. They gotta change the dynamic and put the pressure on them."
Trump reinstated the summit last Friday after meeting with a North Korean envoy at the White House.
The senior official delivered a letter from Kim. Its contents have not been disclosed.
Trump and Kim are slated to meet at Singapore's Capella Hotel at 9 a.m. Tuesday to try to reach a deal on dismantling the North's nuclear weapons program.(Yonhap)