There will be no more tedious layovers at Narita or Haneda airport.
When you have a stopover of more than eight hours, you can make the most of your time. With a helpful local guide, you will explore Tokyo on this tour before returning to the original or a different airport. This tour is highly recommended if you need to transfer to another airport, such as from Narita to Haneda or vice versa, so you may fully experience Tokyo without worrying about transportation.
Two hours before to the departure of your flight, you will return to the airport. The tour can be customized to your needs and generally lasts six hours.

Sample itinerary.