Leaders from Japan and the Association of Southeast Asian Nations, at a special summit on Sunday marking their 50th anniversary of friendship, adopted a joint vision that emphasizes security and economic cooperation while respecting the rule of law amid growing tensions with China in regional seas.

Ties between Japan and ASEAN used to be largely based on Japanese assistance to the developing economies, in part due to lingering bitterness over Japan’s wartime actions. But in recent years the ties have focused more on security amid China’s growing assertiveness in the South China Sea, while Japan’s postwar pacifist stance and trust-building efforts have fostered friendlier relations.