TOKYO, Dec. 1 (Xinhua) -- The Chinese People's Liberation Army (PLA) Navy's missile destroyer "Shenzhen" left Tokyo's Harumi wharf on Saturday morning, concluding the PLA's first-ever warship visit to Japan.

"Shenzhen", with 345 officials and soldiers onboard headed by Rear Admiral Xiao Xinnian, vice chief of staff of the South China Sea Fleet of the PLA Navy, was led off the port by the Japan's Maritime Self-Defense Force (MSDF)'s frigate "Thunder" at 09:53 a.m. local time.

About three hundred Japan-based Chinese gathered on the bank to see off the warship from homeland. They waved Chinese and Japanese national flags and unfolded banners celebrating the successful visit.

Chinese Ambassador to Japan Cui Tiankai also led embassy officials to send off the warship.

During the four-day visit starting Nov. 28, while Chinese naval officials were meeting with Japanese officials from the defense ministry and the SDF, Chinese crew members toured central Tokyo and held a variety of exchanges activities, including a soccer match, with their Japanese counterparts.

The two sides visited each other's warships and opened their warships to the public.

The visit of "Shenzhen," which left the Zhanjiang port of Southern China's Guangdong Province on Nov. 21, was at the invitation of the MSDF.