Crowds gathered to remember the more than 70,000 people who died in the initial blast or from after-effects in the months and years following the bombing, which hit Nagasaki at 11:02 am local time (0202 GMT).
Bells tolled as ageing survivors, relatives, government officials and foreign delegates observed a moment of silence at the time of detonation that turned the Japanese city into a ball of flames.
"I would like to act as a storyteller," Yasuhiko Yuge, a 74-year-old survivor of the bombing said. "Young people have interest but their opportunities to know about the history of the bombing are limited," Yuge was quoted as saying by Jiji Press.
Another survivor, aged 71, told Jiji: "Peace has become common and the number of stories of survivors has declined. I think we can understand each other by placing importance on peace."
Tokyo's move to invoke the right to exercise so-called "collective self-defence" came despite widespread public opposition and fears among people in neighbouring China and South Korea, which regularly accuse Japan of failing to atone for its aggressive wartime actions.
"The oath prescribed in the Japanese Constitution that Japan shall renounce war is the founding principle for postwar Japan and Nagasaki," Taue said.
"However, the rushed debate over collective self-defence has given rise to the concern that this principle is wavering," the mayor said.
The ceremony was held near the spot where the US military dropped a plutonium bomb nicknamed "Fat Man" on August 9, 1945. Japan surrendered six days later, ending World War II.
The bombing of Nagasaki came three days after the first-ever atomic blast at Hiroshima, which claimed 140,000 lives.
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