Japanese Emperor Akihito and Empress Michiko left Thursday for an eight-day tour to Singapore, Thailand and Malaysia in their latest mission to heal the scars of Tokyo's wartime aggression.

"The three countries and our nation have had very strong ties," the emperor said before leaving Tokyo's Haneda Airport on a government plane. "I hope this trip benefits mutual understanding and friendship."

This is their first trip overseas since the royal couple mourned for the victims of World War II on the Pacific island of Saipan last June to mark the 60th anniversary of the end of the war.

The emperor and empress will start the tour in Singapore on their first state visit to the city state, which coincides with the 40th anniversary of the start of diplomatic relations between the two nations.

The couple will then fly to Malaysia on Saturday and visit the northern Malaysian state of Perak. This is their second visit to the country since the emperor ascended to the throne in 1989.

They will move to Bangkok via Kuala Lumpur on Sunday to participate in events marking the 60th anniversary of King Bhumibol Adulyadej's reign, along with royals from Asian and European countries, on June 12-13.