Japan and Denmark exchanged diplomatic missions on a reciprocal basis after conclusion of the "Treaty of Friendship, Commerce and Navigation between Japan and Denmark " in 1867. Both countries have since then enjoyed a friendly relationship for more than a century. Both countries have close ties not only in the economic and trade fields, but also in the cultural and academic areas, and their friendship is growing at a steady pace.
The contacts between Japan 's Imperial Family and the Danish Royal Family also has a significant role to play for the two countries' friendship. The first official visit of Their Majesties the Emperor and Empress to Denmark was realized in 1998 (31 May – 4 June), and Her Majesty the Queen and His Royal Highness Prince Consort of the Kingdom of Denmark paid a state visit to Japan in November, 2004.