Khan and his wife Ayesha drove on to Indian soil mid-morning at Wagah in the northern state of Punjab, the only land crossing between the countries, where he was met by officials who escorted him to the Indian immigration office.
Khan was expected to address the press later, reports said.
Khan, who served as foreign ministry spokesperson until he was appointed as ambassador to India, was expected to drive down to the Indian capital New Delhi later today.
Diplomatic ties between the nuclear-armed rivals, along with train, air and bus links, were severed following a bloody attack on India's parliament in December 2001 by gunmen New Delhi claims were sponsored by Islamabad - a claim Pakistan has denied.
Pakistan's previous high commissioner to India, Ashraf Jehangir Qazi, returned to Islamabad in May 2002 after Delhi sought his recall.
It had recalled its own high commissioner, Vijay Nambiar, in late December 2001.
India's new envoy to Pakistan, Shiv Shankar Menon, will reach Islamabad in mid-July, an Indian government official said at the weekend.
Menon, currently India's ambassador to China, was to wrap up his assignment there soon and will spend a few days in New Delhi for consultations before heading to Pakistan, the official said.
The restoration of diplomatic ties follows the offer by Indian Prime Minister Atal Behari Vajpayee of a "hand of friendship" to Pakistan while on a tour of disputed Kashmir state on April 18. - Sapa-AFP.
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