The chartered freight flight of the Taiwan-based China Airlines has arrived at Chengdu loaded with relief materials to quake-hit regions in Sichuan.
It carried 110 tonnes of blankets, tents, clothes, first aid packets and other materials donated by Taiwan's charity institutions.
The aid would go to the China Charity Federation and the Red Cross Society of China's Sichuan Branch.
The mainland also welcomes an earthquake rescue team sent by the Red Cross organization of Taiwan to help with relief work, an official said.
Chen Yunlin, director of the Taiwan Affairs Office of the State Council said Thursday his office and the Red Cross Society of the mainland would assist the rescuers from Taiwan in reaching the quake zone at an earliest time possible.
"We understand the concerns of the Taiwan compatriots toward the quake victims," Chen said and thanked them for their generosity and help.
Since the quake struck on Monday, people from all walks of life in Taiwan had donated money and materials to the affected people and expressed many times their willingness to send rescuers to the quake areas, he said.
The Red Cross Society in Taiwan have pledged 300,000 U.S. dollars for the relief efforts, and Taiwan enterprises and individuals have also contributed more than 200 million yuan (28.6million U.S. dollars).
"The moves reflected people's affection across the Taiwan Strait at a time of crisis," Chen said.
The mainland side has been working hard to rescue the injured and stranded Taiwan tourists and business people since the quake hit, he said.
He expressed grief over the death of two Taiwan compatriots during the disaster, and sent condolences to their families.
At present, the majority of Taiwan tourists were safe, but one tourist group was still out of contact, he said.
The 7.8-magnitude earthquake that hit southwest China's Sichuan Province on Monday have killed more than 19,500 people.