Easiest is to take the N'EX from NRT to Shinagawa and then transfer to Keikyu to HND. There's also the no change of trains option on the Keisei Line (not the Skyliner) that doesn't require a train change but will send you on the local trains for most of the trip which can be crowded if you hit the rush hour or any of the other busy times.

Depending on the time, you could also take the Skyliner if the train is one of the ones that stops at Aoto and transfer to the Keikyu Line to HND there. Issue going that way is there's only one train an hour that stops at Aoto.