"It's an honour and a privilege to have the ship's company march through our streets.
"Today we are celebrating the relationship [with HMNZS Te Mana] and honouring the commitment and sacrifice of all New Zealanders who have served," Mr Crosby said.
The HMNZS Te Mana Commanding Officer Simon Griffiths said they were using ceremony and tradition to bond the ship's company and the people of Tauranga.
"We are very proud and very lucky to call the always sunny and beautiful Tauranga our home port," Mr Griffiths said.
The HMNZS Te Mana and its crew of 150 worked to advance New Zealand strategic interests from the sea, at home and abroad.
"The ship has travelled half a million nautical miles - that's the equivalent of 23 global circumnavigations," Mr Griffiths said.
The ship was leaving today and it was unknown when the next visit to Tauranga would be.
The ship was be heading up to Canada next year for an upgrade of its sensors and weapon systems to become one of the most modern frigates in the world.