They attended a session on the second day of the three-day convention organised by Hindu Dharma Acharya Sabha (HDAS) at Swaminarayan Gurukul at Chharodi on the outskirts of the city.
Modi sharing dais with Bhagwat and Singhal assumes significance in the backdrop of reports about resentment against the Chief Minister in some sections of RSS and VHP in the state which goes to the polls next month.
The three leaders were briefly joined by Yoga Guru Ramdev, who is touring the state for his Yoga camps.
BJP's Gujarat affairs in-charge Balbir Punj was also present at the convention attended by more than 100 religious leaders. The meet was not open to media.
"All three leaders were present at the convention. They talked about religion and no political matter was discussed," Swami Vishokanand Bharti, a Bikaner-based religious leader, said after coming out of the meet.
During his last visit to Gujarat a few months ago, Bhagwat had not met Modi. The BJP stalwart then travelled to Nagpur and met top RSS leaders, including Bhagwat, last month.
Former Gujarat Chief Minister Keshubhai Patel, who has formed his own political party to overthrow Modi from power, has openly sought support of RSS and VHP in the state.