Each leader came into the room at the Brisbane Convention and Exhibition Centre one at a time, stopped to shake Abbott's hand and posed for a photo before walking out of the room in the other direction.
When Modi, the first Indian Prime Minister to visit Australia in 28 years after Rajiv Gandhi in 1986, made his entry, he gave Abbott a hearty hug.
Abbott greeted the dignitaries as he stood in the middle of the room in front of a turquoise wall with the words "Australia 2014" and "G20 Summit Brisbane 2014".
The meeting between the premiers of India and Australia will be the second in two months. Abbott was in New Delhi in September where the two countries signed a landmark civil nuclear deal.
When Modi was in Japan in August, he received an unexpected hug from usually stiff Japanese Prime Minister Shinzo Abe. The Japanese Premier hosted a dinner for Modi last night reflecting the growing warmth and affection between the two leaders.
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