An investigation is underway after two passenger planes came into contact on a taxiway at Tokyo's Haneda Airport on Saturday.

Transport ministry and airline officials say an aircraft operated by Taiwan's Eva Air, which was stationary on a taxiway, and a Thai Airways plane, which was passing behind it, made physical contact at around 11 a.m.

A total of 207 passengers and crew members were on the Eva Air plane, while the Thai Airways jet was carrying 264 people. No injuries were reported.

Footage from an NHK camera shows the Thai jet coming to a halt after passing behind the Eva Air plane at around 11 a.m.

About 40 minutes later, an airport official was seen carrying what appeared to be part of a plane after picking it up from the taxiway.

Passengers from the two aircraft were shuttled by bus to a terminal building.

The incident closed down one of Haneda's four runways for around two hours, until around 1 p.m.

All Nippon Airways and Japan Airlines said some of their flights servicing Haneda were being delayed by about 30 minutes to one hour as of 3 p.m. They are advising passengers to check the latest flight information.