Chinese navy soldiers wave goodbye in Sanya, South China's Hainan province, prior to departure to Malaysia for a militry drill on Sept 12, 2015. [Photo/CFP]

Chinese navy fleets arrived in Malaysia on Thursday for a military exercise jointly held by China and Malaysia.

The drill, coded "Peace and Friendship 2015," is conducted according to consensus reached between high-level military leaders of the two countries.

It includes exercises for joint escort, joint search and rescue, hijacked vessel rescue, weapons use, humanitarian rescue and disaster relief.

So far, Chinese armed forces participating in the mission have all successfully reached the exercising area.