U.S. President Barack Obama arrived in Japan at around 7 p.m. on April 23, 2014.

(State Department Photo by William Ng)

He was greeted at the airport by U.S. Ambassador to Japan Caroline Kennedy.

(State Department Photo by William Ng)

President Obama enjoyed a friendly sushi dinner with Japanese Prime Minister Shinzo Abe at Sukiyabashi Jiro in Ginza.

(Official White House Photo by Pete Souza)

On April 24, President Obama participated in a welcome ceremony with their Majesties the Emperor and Empress of Japan at the Imperial Palace.

(Official White House Photo by Pete Souza)

After the ceremony, he talked with Emperor Akihito and Empress Michiko at the Imperial Palace.

(AP Photo/Larry Downing)

President Obama also spent time with the family members of Japanese victims of North Korean abductions.

(Official White House Photo by Pete Souza)

On April 24, President Obama held a joint press conference with Japanese Prime Minister Shinzo Abe at the Akasaka Palace.

(Official White House Photo by Chuck Kennedy)

Prime Minister Abe and Mrs. Akie Abe presented President Obama with a gift.

(Official White House Photo by Pete Souza)

On the afternoon of April 24, President Obama visited the Miraikan (the National Museum of Emerging Science and Innovation) and met with Chief Executive Director Mamoru Mohri and astronaut Soichi Noguchi.

(State Department Photo by William Ng)

He also met with some Japanese students and ASIMO the humanoid robot.

President Obama observed a traditional horseback archery demonstration as he toured Meiji Shrine in Tokyo.

(Official White House Photo by Pete Souza)

In the evening, President Obama attended a state banquet hosted by their Majesties the Emperor and Empress of Japan at the Imperial Palace.

(AP Photo/Carolyn Kaster)

On April 25, President Obama bid farewell to Emperor Akihito and Empress Michiko at the Hotel Okura.

(AP Photos/Kimimasa Mayama)

President Obama boarded Air Force One and departed for South Korea on the morning of April 25.

(State Department Photo by William Ng)