I have a picture somewhere that a friend took when I jumped over the chain and turned around and smiled, two feet inside North Korea, before jumping back and smiling at the border guard, who pretty clearly just wanted to make sure no stupid American tourists got arrested by the Norks on his watch (apparently some European backpackers had tried to hike the perimeter of the lake not long before and spent a few months in a North Korean prison).
Just don't do anything stupid, or you might be detained, like 22 yr old Otto Warmbier from Ohio, who was also there with YPT and allegedly stole a propaganda poster, and is now in North Korean labour camp.
https://en.wikipedia.org/wiki/Otto_Warmbier
Crossing illegally from China is something I would not do...
If you have US passport and get detained, they would hold you for few years as a bargaining chip for some potential deal.