There is a story in Greek mythology of someone coming from Egypt to Creece.
There is definite evidence of trading between Egypt and Minos for several centuries before the decline of Minoan civilization.
There were definitely contacts--Sir Arthur Evans was able to establish the chronological periods for Minoan civilization based on Egyptian history because of datable Egyptian objects found on Crete, and there is a wall-painting in Egypt which shows some individuals who are clearly Minoans from their appearance (and have objects which look like those found on Crete).
Minoan-style frescoes have also been found at Avaris (Tell el-Daba'a) in the Egyptian Delta.