Anne Aly, the first Muslim woman elected to Federal Parliament, says she has found some common ground with controversial Queensland Senator Pauline Hanson.

The Labor MP for Cowan said her office extended the invitation to Senator Hanson, who accepted almost immediately.

Ms Aly and the One Nation Party leader had lunch in Canberra on Thursday afternoon.

Ms Aly told 720 ABC Perth that while she had known they would not agree on everything, they did share common views.

"I understand the things that she's been saying, whatever, and if we can do away with all of that, and let's talk about concerns that we both have around terrorism and around violent extremism and radicalisation and, you know, let's work from that basis as opposed to a basis of being divided on opinions about it," she said.

The pair also discussed what it was like for a first-time MPs, with Senator Hanson starting her first term in the Senate.

Ms Aly said she did not raise Senator Hanson's speech last month, in which she said Australia was in danger of "being swamped by Muslims, who bear a culture and ideology that is incompatible with our own".

Sorry, this video has expired Main points from Pauline Hanson's Senate speech

"I deliberately didn't raise those comments because when I started the conversation with her around those things, I said, 'You know, I wanted to talk to you because I know we're not going to agree on things and I will call you up if I don't agree on things, I will pull it up and I will speak'," she said.

"And she said, 'I'll do the same for you' and I said, 'Yeah, and I expect that'.

"I do believe that there are issues of concern that we may have in common, we just approach them differently.

"She would say something that I don't agree with and I'd say, 'Look, I understand where that's coming from but I don't agree with it, and here's why I don't agree with it, and here's some of the research that I've done and this is my experience'."

Ms Aly said the conversation was cut short by a parliamentary call for a division, so she and Senator Hanson made plans to have further discussions, specifically about section 18C of the Racial Discrimination Act.

The Labor MP said she also shared a joke with the One Nation leader about how it was possible to put on weight in Canberra, despite spending so much time running to the parliamentary chamber whenever the bells rang calling for a division.