I encourage you to use the Tokyo monorail when you move from the Tokyo (Haneda) Airport to central Tokyo. There are a lot of other options such as the subway (Keikyu), but the Tokyo monorail runs at a considerably high viaduct over rivers and through buildings to the right and to the left with high speed. I think you'll be surprised. It is different from the AirTrain at the JFK airport, a dull transport, and the subway at the Singapore airport.
Cf. Access to Haneda Airport Tokyo Monorail