A Maritime Self-Defense Force submarine arrived in Sydney Friday — the first time a Japanese sub has entered the harbor since World War II — to participate in bilateral exercises with its former foe.

The Soryu-class submarine Hakuryu was dispatched with the destroyers Umigiri and Asayuki for the latest round of Exercise Nichi Gou Trident, which kicked off the same day.

"This exercise, which has been conducted between Australia and Japan since 2009, is an opportunity to develop and enhance the bilateral naval relationship by practising maritime skills and improving levels of interoperability between our two navies. This is the first opportunity to conduct the exercise off Sydney," the Australian Defence Department said in a statement.