How to go from Haneda Airport to Tokyo or Asakusa

At this time, you can take the train.

Haneda Airport International Terminal Station
You take the Keykyu-Kuko line in direction to 快特Keisei-Takasago

Once you arrive in Keisei-Takasago you stay on the same train. the line will change to the Keisei-Line.
You keep oing untill you arrive in the Asakusa Station
YOu can see this route here:
https://www.google.com.br/maps/dir/Haneda+Airport,+Hanedakuko,+%C5%8Cta,+Tokyo+144-0041,+Japan/Asakusa+Sta.,+1+Chome+Asakusa,+Tait%C5%8D,+Tokyo,+Japan/@35.6290516,139.6906118,12z/am=t/data=!4m17!4m16!1m5!1m1!1s0x6018640ba43192e3:0xd32c3a9d146f8df!2m2!1d139.7798386!2d35.5493932!1m5!1m1!1s0x60188ec690127e2f:0xf41f021a3a02cff0!2m2!1d139.797676!2d35.7107111!2m2!7e2!8j1512847800!3e3?hl=en

You can also see better options here: (check "Our Favourite way from Haneda Airport to Tokyo")
https://planetyze.com/en/japan/tokyo/access