On Wednesday night, a UN spokesperson announced it had "collected around 90 truckloads of goods from the Kerem Shalom crossing and dispatched them into Gaza".
A video shared with the BBC showed the lorries with aid collected from Kerem Shalom driving in a convoy along a road in southern Gaza.
Other footage showed bags of flour being unloaded at a bakery and hundreds of pitta breads rolling out of its ovens on conveyor belts.
Before the operation, senior World Food Programme (WFP) official Antoine Renard told the BBC that the problems with collecting the aid arose because the Israeli military wanted lorries to move along a route in Gaza which aid agencies considered to be dangerous. The route, he said, could leave them at risk of attack by desperately hungry civilians and armed criminal gangs.
"At market prices in Gaza right now, each truck full of flour is worth around $400,000 (£298,000)," Mr Renard explained.
He added that the solution would be "hundreds of trucks daily" travelling along a safe route to warehouses, noting "the less we provide, the greater the risk and more anxiety created" among the population.
Renard said aid agencies on the Gaza side did not employ armed guards to accompany their cargoes because it was considered too dangerous, so a lengthy ceasefire and an extension of the current five-day window for the transfer of food was urgently needed.
Israel stopped all deliveries of aid and commercial supplies to Gaza on 2 March and resumed its military offensive two weeks later, ending a two-month ceasefire with Hamas.
It said the steps were meant to put pressure on the armed group to release the 58 hostages still held in Gaza, up to 23 of whom are believed to be alive.
Israel also insisted there was no shortage of aid and accused Hamas of stealing supplies to give to its fighters or sell to raise money - an allegation the group denied.
The UN also denied that aid had been diverted and said Israel was obliged under international humanitarian law to ensure food and medicine reached Gaza's population.
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