Singh is the 26th Army chief and will stay at the helm of the 1.13 million personnel-strong Army for over two years.
The 59-year-old Singh was handed over charge by General Deepak Kapoor at a ceremony in the South Block here.
Kapoor retired from the Army after over four decades of service and would formally cease to be the Army chief at midnight tonight.
Gen Singh is an honours graduate of the US Army Infantry School at Georgia in the US.
Singh is also an alumnus of the Wellington-based Defence Services Staff College, the Mhow-based Army War College and the US Army War College, Carlisle.
A third generation army officer, Singh was commissioned into the Rajput Regiment on Jun 14, 1970.
Singh had participated in the 1971 war against Pakistan and in the operations of the Indian Peace-Keeping Force in Sri Lanka in the mid-1980s.
He also commanded the Jalandhar-based 11 Corps and Ambala-based Strike Corps and was an instructor in the Indian Military Training Team (IMTRAT) headquarters in Bhutan.