The Emperor then inspected a Guard of Honour from the 1st Battalion Welsh Guards before proceeding back to Buckingham Palace in a carriage procession.
State Visits to the UK typically occur twice a year in the winter and early summer, serving as an opportunity to strengthen relationships with other countries.
The visiting Head of State is formally hosted by the King and Queen, while also engaging in a busy schedule meeting with government officials and various organizations.
After a private lunch at Buckingham Palace, the Emperor and Empress visited a special exhibition in the Picture Gallery showcasing items from the Royal Collection related to Japan.
Later in the evening, a State Banquet was held at Buckingham Palace, where the King and Emperor delivered speeches amidst the presence of the Queen and other members of the Royal Family.
Additional engagements lined up for the Emperor and Empress include a visit to The Francis Crick Institute, the UK’s leading biomedical research center, and a Banquet at the Guildhall.
The official farewell proceedings will take place at Buckingham Palace on Thursday.