The event featured gymnasts from Team Japan as well as local universities.
No overseas athletes were present and it was held without spectators.
The gymnasts wore masks until their performances and sat in a socially distant seating layout.
Opinion surveys show that most Japanese oppose holding the Games this summer due to worries about the pandemic.
Team Japan gymnast Nanami Takenaka said it was natural there were opposing views.
But she said they hope through their performance they can make people smile, and glad that the event took place.
The Summer Olympics are scheduled to open on July 23.