TOKYO—Former Japanese Key Minister Shinzo Abe on Saturday frequented a Tokyo shrine linked to Japan’s militarist past, waiting only a few days immediately after his departure from workplace to resume a longstanding follow that had angered Asian neighbors.

Mr. Abe frequented the Yasukuni Shrine on Dec. 26, 2013, a calendar year immediately after having workplace, prompting a rare rift with the U.S. At the time, the U.S. Embassy in Tokyo explained it was upset that Mr. Abe had “taken an action that will exacerbate tensions with Japan’s neighbors.”