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Mr Corbyn said his party would "absolutely" ensure Brexit occurs if they secured power, with a focus on negotiating tariff-free access as part of a "jobs-first Brexit".
His comments come as the DUP confirmed that its party leader Arlene Foster is to hold talks with Theresa May in Downing Street to finalise an agreement on propping up her minority government.
Labour won 262 seats in the General Election, up from the 232 secured by Ed Miliband in 2015, but the Conservatives remain the largest party in Parliament.
Mr Corbyn believes that without an outright majority, Mrs May's position is vulnerable and he intends to oppose the Queen's Speech and table a "substantial amendment" in an attempt to bring down her administration.
Another general election within months is also expected, Mr Corbyn said.
Speaking on the BBC's Andrew Marr show, Mr Corbyn said: "We're going to put down a substantial amendment to the Queen's Speech which will contain within it the main points of our manifesto, and so we'll invite the House to consider all the issues we put forward which I've mentioned - jobs-first Brexit, mention the issues of young people and austerity, there's many other things."
On Brexit, Mr Corbyn said he wants a "jobs-first Brexit" negotiated as quickly as possible along with guaranteeing the post-Brexit rights of EU nationals living in the UK.
Asked if Labour would seek to keep Britain in the European single market and customs union, Mr Corbyn said: "Well, the single market is a requirement of EU membership and since we won't be EU members there will have to be an arrangement made."
Pressed if he was being clear that the UK will leave the EU, Mr Corbyn said: "Absolutely. Where I frame it is, we want a tariff-free access to the European market, we also want to maintain a very important university and research collaboration in Europe, and there's a whole host of European agencies - Euratom, security, environment - in which we wish to be part of.
"I tell you this, we will absolutely remain part of the European Convention on Human Rights and European Court of Human Rights - we are not walking away from those vital post-war agreements that were made," he said.