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Minister of State for Defence Shripad Naik, Defence Secretary Sanjay Mitra and top officials of the ministry accorded a warm welcome to Singh.
After taking charge, the former home minister held a meeting with Army chief Gen Bipin Rawat, IAF chief Air Chief Marshal B S Dhanoa and newly appointed Navy chief Karambir Singh.
The defence secretary and several other senior officials of the ministry were also present at the meeting.