What is the best way to get to Haneda Airport from Tokyo city center?

I am only visiting Tokyo for a couple of days, and I got a taxi straight from the airport to our hotel the night I landed, but I want to make the most of my stay, and I'd like to visit the city center the afternoon before I leave and wanted to make sure that I leave enough time to not run around stressed about missing my flight... Hope you answer before I actually have to set off, thanks.

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