Taiwanese Council of Indigenous Peoples Minister Lin Chiang-Y said he was happy his ancestors had found such a beautiful place to live.
Genetic research in the middle of last decade confirmed biological links between the indigenous people of Taiwan and the Maori people of New Zealand.
"It is lovely to meet our brothers and sisters from thousands of years ago ... we believe we share a common language and culture with Maori," Mr Lin said through an interpreter.
"In future, we will develop even closer family ties and relationships with you."
Indigenous Taiwanese also face some of the same issues as Maori when it comes to the preservation of their language and customs.
In Taiwan, this is due to the introduction of the Chinese and Japanese languages and cultures.
The delegation's visit was also linked to the ANZTEC agreement (Agreement between New Zealand and the Separate Customs Territory of Taiwan, Penghu, Kinmen, and Matsu on Economic Co-operation) which came into force in December 2013.
Part of the agreement relates specifically to the promotion of cultural and business exchanges between the indigenous peoples of New Zealand and Taiwan.
The visit was arranged with help from the Ministry of Foreign Affairs and Trade.