Troops are headed for a largely peaceful area
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Prime minister Junichiro Koizumi has defied his critics as Japanese troops crossed into Iraq, the first to enter a combat zone since World War II.
"Japan's development and prosperity depends on world peace and stability," he said in a speech which opened the new session of parliament.
An advance team of 30 soldiers were escorted from Kuwait by Dutch troops.
Critics fear that the 1,000 troops may get drawn into the conflict in Iraq, in contravention of Japan's constitution.
Mr Koizumi said the controversial troop deployment was needed as part of Japan's role in the international community.
"We would not be meeting our responsibilities... if we were to leave the contribution or personnel to other countries because of the possible danger," Mr Koizumi said.
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PACIFISM UNDER THREAT?
Japan's constitution renounces the use of force
This has been stretched to allow self-defence troops
1992 law allowed troops to join UN and relief work overseas
2003 law said troops could go to non-combat zones in Iraq
PM Koizumi wants to give Japan even greater powers
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"We will aggressively contribute to the rebuilding of Iraq," he said.
He admitted that "we cannot necessarily say Iraq is safe", but said the troops "have been thoroughly trained to work effectively in a harsh environment and know how to avoid danger".
Soon after Mr Koizumi spoke, an advance team of Japanese troops crossed into Iraq from Kuwait.
The troops will be deployed in Samawah - a largely peaceful part of Iraq - where they will help to restore water services, rebuild schools and other infrastructure and offer humanitarian assistance.
In all, 600 ground troops and 400 air force and naval personnel are scheduled to be deployed by March.
Public split
Meanwhile, latest opinion polls published on Monday suggested that the Japanese public was still divided over Mr Koizumi's decision to send troops to Iraq.
A weekend poll by Japan's influential Asahi Shimbun daily found that 48% of respondents opposed the deployment, down from 55% in the previous poll carried out in December.
The poll said 40% supported the move, up from 34%.
A similar survey by Kyodo news agency found that 51.6% of respondents were against the deployment, while 42.8% backed Mr Koizumi's decision.