Can I meet my friend at HKIA after touching down at HKIA and before taking SkyPier ferry to China?

I am flying to HKIA on an Air Canada flight and then taking the ferry from Sky Pier to China on the same day.
How can I meet my HK friend at the airport during the several hours after I touched down at HKIA and before I board the ferry at Sky Pier? I have the proper papers to enter HK if needed.