Taking a Haneda Express Tokyo Monorail is the easiest and the fastest way to leave Haneda Airport as soon as you land there.
Even though you’ll have to transfer from the monorail to a JR train in order to reach Tokyo Station, it’s still fair to say that this is a pretty comfortable way to get to central city from Haneda Airport because:
Directions to get from Haneda Airport to central Tokyo:
Travel time: About 20 minutes in total (13 minutes on the Monorail and about 7 minutes on the JR train)
Cost: 650 yen ($6.26) in total = 490 yen via Tokyo Monorail + 160 yen via JR train
Service hours: 05:17 – 00:10 daily (Tokyo Monorail) and 04:26 – 01:18 daily (JR train)
Service schedule: Every 3 minutes during rush hours and every 4-5 minutes during off-rush hours (for both Tokyo Monorail and JR trains)