Singh's comments came amid signs of warming ties between the two nuclear armed nations, which have fought three wars since gaining independence from Britain.
The two nations decided earlier this year to restart wide-ranging peace talks. Last month, Pakistan quickly returned an Indian helicopter and its crew that had strayed across the tense border, and last week Pakistan announced it would normalize trade with India.
Singh and Pakistani Prime Minister Yousuf Raza Gilani met for about an hour Thursday on the sidelines of a South Asia regional summit to further discuss how to ease tensions between their nations.
Singh praised Gilani as a man of peace and said the two neighbors needed to understand that their destinies are interlinked.
"The time has come to write a new chapter in the history of our relationship," he said, standing beside Gilani.