"First it's humanitarian," said the Dalai Lama, clad in his signature orange robe while stating the purpose of his visit.
Taiwan's Central News Agency reported that the exiled Tibetan leader's visit was without political affiliation.
However, Taiwan President Ma Ying-jeou did not meet the Dalai Lama.
There was no word from China on Sunday about the visit. Last week China had accused Taiwan's anti-China opposition Democratic Progressive Party of using the disaster rescue as an "excuse" to invite the Dalai Lama and "sabotage" ties with China.
On Sunday, Aug 30, the Party responded.
"Such behaviour of Chinese officials runs contrary to the expectations of the Taiwanese people who anticipate the spiritual compassion and peace that the Dalai Lama represents," the party said in a statement.