Relations between the world's oldest and largest democracies have often been shadowed by suspicion, but have improved markedly in recent years.
Singh noted one area where the two countries do not agree: US resistance to India gaining a permanent seat on the UN Security Council. "The voice of the world's largest democracy surely cannot be left unheard on the Security Council when the United Nations is being restructured," he said.
Singh's speech was the first by an Indian leader since former Prime Minister Atal Bihari Vajpayee in 2000. Such occasions are typically reserved for the United States' closest allies.
Prime Minister Manmohan Singh (L) shakes hands with Senator Hillary Clinton (D-NY) prior to addressing the joint session
Photograph: Win McNamee/Getty Images
Also See: First Look: The White House menu