The group, flying with British Airways, consisted of 30 people and will be in the country for 10 days, visiting places such as Jerusalem, Nazareth, Sea of Galilee, the Dead Sea, Tel Aviv and Jaffa.
Israel is in the process of running a pilot for vaccinated tour groups in order to "determine the best way to reopen its skies to vaccinated foreign visitors".
The country is expected to allow entry for individual vaccinated travellers by 1 July.
According to the Israel Government Tourism Office, 85% of the country’s adult population has been fully vaccinated against Covid-19.
Sharon Bershadsky, director of the UK Israel Tourist Office, said: "We are delighted to welcome the first organised British tourist group to visit Israel in over a year.
"Israel has always been an attractive destination for British travellers, with unparalleled historic and religious sites sacred to three religions, vibrant cities, delicious food and friendly people."
Israel is one of just 11 countries on the UK government’s quarantine-free green list.
