Due to improving cross-strait relations, the first cross-strait charter flights between Taiwan and China were introduced in 2003, with China Airlines' flight 585, operated by a Boeing 747-400, being the first Taiwanese flight to legally land in China. (The aircraft took off from Taoyuan Airport, stopped over at Hong Kong Airport, and landed at Shanghai Pudong Airport.) In 2005, the first nonstop cross-strait charter flights were initiated, with China Airlines' flight 581 (Taoyuan Airport to Beijing Capital Airport) being the first flight of the program to depart from Taiwan. In 2008, the first regular weekend charter flights between Taiwan and China started operating, with daily charter flights introduced later in the year. In 2009, regularly scheduled cross-strait flights were finally introduced.