The Queen emerged, accompanied by Prince Philip, and appeared relaxed as she chatted with her husband.
The royal couple were met by officials including Governor-General Dame Silvia Cartwright, Deputy Prime Minister Jim Anderton (standing in for Prime Minister Helen Clark who is overseas), Defence Force chief Air Vice Marshal Carey Adamson, Labour MP Georgina Beyer and Wellington Mayor Kerry Prendergast.
Onlookers lined the windows of Wellington's domestic terminal for a glimpse of the Queen but the crowds that in the past had turned out for royal visits were absent.
The 75-year-old monarch is on a 15-day tour in her golden jubilee year. It is her 10th tour of New Zealand.
A poll released today showed the visit was unlikely to generate much interest among New Zealanders.
The One News-Colmar Brunton poll showed 58 per cent of people believed the monarchy had little or no relevance to their lives.
Just 7 per cent said the Queen remained "extremely relevant".
Despite general apathy toward the royals, just 33 per cent of respondents nationwide said the country should dump the Queen as head of state and become a republic.
After Queen Elizabeth took the salute from a royal guard of honour, a combined defence forces band struck up God Save the Queen.
She then inspected the royal guard of honour before the band played Pokarekare Ana.
After a few words with members of the welcoming party, including an exchange between the Queen and Ms Beyer -- believed to be the world's only transsexual member of parliament -- the royal couple boarded a flight for Taupo at 9.55 am.
They will spend two days, mostly free of engagements, at Taupo's exclusive Huka Lodge.
Returning to Wellington on Sunday, the Queen will unveil a consecration stone at St Paul's Cathedral while Prince Philip presents Duke of Edinburgh awards to 60 young people.
They then travel to Christchurch on Monday where they will visit Burnham military camp before flying back to Wellington for a state dinner at Parliament.
On Tuesday the couple fly to Auckland to visit Team New Zealand at their America's Cup base, before leaving on Wednesday for Adelaide.
- NZPA
Royal Visit 2002