Originally Posted by AZ Travels the World

They pick up at both terminals. As you exit customs and immigration in the main hall just look for bright orange signs for the 'Limousine Bus.' They will sell you the ticket there. You can pay cash or credit card. The ticket will give you the sign number that you need to stand under outside and the time that the bus will arrive there.

The bus will pull up at the scheduled time, valets will load baggage underneath while you give your ticket to the driver and board the bus for the ride into the city.

The whole experience is the picture of Japanese efficiency. Airports in the rest of the world should run this well.