The annual "Silver Arrow" exercises run from 14 to 29 of September, but the troops are due to stay on longer, until the end of October.
The Danish contingent consists of 160 soldiers from a mechanized infantry brigade, bringing their own CV-90 infantry fighting vehicles with them.
Germany's contingent is smaller with around 60 troops from the Air force and Land force mechanized infantry units.
The troops arrive as the fruit of diplomacy some months ago.
On April 14, during a visit to Latvia, German Defence Minister Ursula von der Leyen, discussed the security situation in the region and the need for long-term allied presence in the Baltic countries, promising to send soldiers to the Baltic states for training purposes.
On August 25, Latvian President Raimonds Vejonis - who served as Defense Minister during von der Leyen's visit - paid tribute to the role Germany plays in defending the Baltic region.
Accrediting new German Ambassador to Latvia Rolf Ernst Schutte, Vejonis said he appreciated Germany's significant contribution in strengthening the region's collective defense by deploying its military forces here.
