In most cases, you do not need to be physically in Singapore merely to incorporate a company. ACRA filings and the Corporate Service Provider’s client onboarding can generally be handled remotely, although the CSP must complete the required identity verification and customer due diligence.
Whether a later visit is needed depends on what follows. Work-pass issuance may require the candidate to be in Singapore, and banks or other regulated institutions may require in-person verification under their own policies. Notarisation or embassy certification is therefore not a universal incorporation requirement; it is used only where the particular document or verification process requires it.