It was welcomed by about 100 people and a stirring call of "Haere Mai" from the shore.
Local iwi kaumatua Haami Hilton led the powhiri and welcomed the waka's guests - among them Napier Mayor Bill Dalton and city council representatives, Art Deco Trust general manager Sally Jackson and heritage officer Robert McGregor and the new director of MTG Hawke's Bay Laura Vodanovich.
Mr Dalton said the link between the two trusts, as part of the Tremains Art Deco Weekend, was strong and special, and said as it was last year when the linkage was formed.
The voyage was one of the most memorable parts of the celebrations for him.
"This is a wonderful occasion," Mr Dalton said, before responding to something Mr Hilton had mentioned during his welcome - that they ensured the sun would shine on the occasion. "And it has, and we thank you."
Mr Dalton added he was honoured by the presentation of a polished stone wrapped within a flax basket. It was from an ancient taonga site in Hawke's Bay.
"We thank you for this honour," Mr Dalton said.
The waka will be part of the weekend events, in that five two-hour long voyages have been scheduled.
Those taking the voyages will hear about Maori legend through the region, how the names of many places came about and how life was for Maori before the 1931 earthquake struck.
They would also experience the traditional sailing techniques.
"Waka trips bring a different side to the weekend," waka event co-ordinator Honoria Ropiha said.