However Hecker said the regime's nuclear weapons were a real threat to Japan and South Korea.
Yonhap news agency reported that South Korea will provide about 1.04 trillion won ($924 million) in 2019.
The U.S. State Department's senior adviser for security negotiations and agreements, Timothy Betts, met Kang before signing the agreement on behalf of the United States and told her the money represented a small but important part of South Korea's support for the alliance.
North Korea churned out enough plutonium and highly-enriched uranium to fill five to seven new nuclear weapons past year during the same period negotiations with the United States were taking place, according to a new USA study.
President Donald Trump's pick to lead the World Bank vowed yesterday to cooperate with South Korea on developing North Korea and other various sectors, the finance ministry here said.
South Korean officials have said they had sought to limit its burden to $1 trillion won and make the accord valid for at least three years.
South Korea began paying for the United States military deployment in the early 1990s, after rebuilding its war-devastated economy.
But both sides worked to hammer out an agreement to minimise the impact on South Koreans working on USA military bases, and focus on nuclear talks ahead of a second U.S. Although North Korea has made no official announcement about the summit so far, political experts are not seeing it in a negative light.
U.S. Special Representative for North Korea Stephen Biegun held three days of talks in Pyongyang last week to prepare for a second Trump-Kim summit due to be held in Hanoi on February 27 and 28.
Last month, US Director of National Intelligence Dan Coats told Congress he believed it was unlikely North Korea would give up all its nuclear weapons and that it had continued activity inconsistent with pledges to denuclearize. There are about 28,500 USA troops stationed in South Korea.
Ahead of the second US-North Korea leaders' summit, Malaysia's Prime Minister Tun Dr Mahathir Mohamad says Malaysia is ready to settle its problem with North Korea which followed the high-profile assassination of Kim Jong-nam, the half-brother of North Korean leader Kim Jong-un in Malaysia.
Major joint exercises have been suspended, but some small-scale drills have continued, earning rebukes from North Korea's state media in recent months.
The South Korean Parliament has to approve the agreement before it becomes final. Late previous year, the USA military had warned the South Korean employees on its bases that they may be put on leave from mid-April if no agreement was reached.