Can foreigners retire in Korea?

Excuse me, I am a foreign national currently residing in Korea. I have heard that the retirement system in Korea is quite generous, and I am considering retiring here. However, I am unsure if foreigners are eligible to participate in the Korean retirement system. Could you please clarify this matter for me? If foreigners are indeed eligible, what are the specific requirements and procedures that I need to follow? Thank you for your time and assistance.