Two of the nation's navy warships, a destroyer and an amphibious assault ship, arrived in Hong Kong on Thursday for a five-day visit.

Members of the public can board the vessels for a look around.

The Changsha and the Hainan were greeted by boats from the Fire Services Department, with the Hainan moored at China Merchants Wharf in Western.

Soldiers on board raised the national flag and waved to people on shore.

The Ministry of Defence said the visit was approved by the Central Military Commission and is part of an annual plan.

It said the visit is aimed at demonstrating the People's Liberation Army's determination and ability to defend the country's sovereignty and safety.

"[The visit also] further enhances the national identity and pride for compatriots in Hong Kong and Macau, and for them to learn more about national defence and the achievements of the army's modernisation," the ministry said.

It added that the vessels will be open to the public and soldiers based in the two SARs, and there will be seminars on national defence as well as cultural exchange activities.