Could you clarify what you mean by "Ancient" China? Do you mean anything before the end of Han (220 AD)? Or anything before the Sui unification (581 AD)?

I won't go into the reasons why China didn't invade and conquer other regions of east Asia, but essentially no. The two civilisations supported different kingdoms of Korea in various time periods and fought, but not on Japanese or Chinese land. There were Japanese pirates, but they did not incur the invasion of Japan by Imperial China.