Under the deal, rebels fighters are to be slowly incorporated into joint units with government security forces but two well-established rebel groups did not sign, reflecting the challenges still facing the peace process.
Fighting in Darfur alone has left around 300,000 people dead since the rebels took up arms in 2003.
Sudanese government and a faction of the Sudan Revolutionary Front known as the “Centre Track" reached the deal in Juba, the capital of South Sudan, where talks began earlier this month.
Riek Machar has been welcomed by President Salva Kiir on his arrival at Juba's airport as the rebel chief has returned to the capital Juba for the first time in more than two years for a ceremony to welcome the latest peace accord.
Affected by years of civil war, youth in Juba are turning to art, stressing the need for a non-violent resolution of the conflict that has cost thousands of lives.
A military court has started the trial of 13 soldiers accused of raping foreign aid workers and murdering a local journalist in Juba in 2016.
Fifteen to 20 government soldiers face charges for murder, rape and looting during the attack on the Terrain hotel in Juba in 2016.
South Sudan's opposition leader Riek Machar says he will return to Juba in April to form transitional government with President Salva Kiir
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