On 9 August 1941, the British battleship HMS Prince of Wales steamed into Placentia Bay, Newfoundland, with Churchill on board, and met the American heavy cruiser USS Augusta, where Roosevelt and members of his staff were waiting. It was the first time the two leaders had met as heads of their respective governments.

The "Atlantic Charter" was issued as a joint declaration on 14 August 1941 at the Naval Station Argentia although the US would not officially enter the war until four months later. The policy was issued as a statement. There was no formal legal document. It detailed the goals and aims of the Allied powers concerning the war and the postwar world in 8 common principles.

The "Atlantic Charter" made clear that the US was supporting the UK in the war. Both the US and UK wanted to present their unity, regarding their mutual principles and hopes for a peaceful postwar world and the policies they agreed to follow once the war was over. A fundamental aim was to focus on the peace that would follow, and not specific American involvement and war strategy, although American involvement appeared increasingly likely.

In January 1942, in Washington DC, a group of 26 Allied nations signed a “Declaration by United Nations” in which they pledged their support for the principles of the "Atlantic Charter". The document is considered one of the first key steps toward the establishment of the United Nations in 1945.

More Info: en.wikipedia.org