The unnamed man, of African origin, touched down in Kigali after he was ushered out of the UK on Monday night.
The historic moment marks the first time a failed asylum seeker has been relocated to a third country and ministers hope he will be the first of thousands.
The migrant, whose bid to stay in Britain was rejected at the end of last year, reportedly accepted passage on a commercial flight for a new life in the east African nation.
He was given around £3,000 of taxpayers' cash to help relocate under the terms of a deal with Rwanda, which operates alongside the forced deportation policy set to begin in July. A Whitehall source told a newspaper: "This proves it's possible and legal for Britain to remove failed asylum seekers to Rwanda successfully and smoothly."
The voluntary removals scheme for those with no right to remain was confirmed by the Home Office in March. It is for those who have already gone through the UK asylum process and have been refused permission to stay as opposed to those crossing the Channel by boat illegally.
There are said to be tens of thousands of migrants still in the UK who will not gain legal status here, but who cannot be sent back to their home countries over fears of persecution.
Ministers argue that it is better and cheaper to offer them cash and a one-way ticket to a new life in Rwanda.
Meanwhile, the Daily Express can reveal that British-based smugglers are helping Channel migrants avoid being sent to Rwanda by taking them to Ireland. Asylum seekers camping in squalid conditions in Dublin claimed the criminals were charging up to £3,600 for passage from Belfast.
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