One of the most convenient ways to travel between Tokyo and Haneda Airport is the Monorail–it takes as little as 13 minutes from Hamamatsucho Station. On average, the monorail departs every four minutes during operating hours, which can alleviate a lot of stress since it’s really not a big deal if you miss one.
In addition to its convenience and reasonable pricing (490 yen per adult), the Monorail offers scenic views as it runs along the ocean for most of the ride.