Zuma and Kenyatta then told journalists that they had discussed a number of issues, which included deepening and strengthening relationships between the countries.
"Political parties are the key engine in ensuring people-to-people connection", said President Kenyatta.
"We want to strengthen our relations, by taking them to a higher level", Zuma said, adding that Thursday's tête-à-tête was "absolutely important" as it gave both African Union leaders time to come to conclusions on some issues before Kenyatta's state visit.
Moments after landing in Jacob Zuma country, the Kenyan Head of State was nearly knocked down no thanks to miscoordination by his security detail as he alighted from his official vehicle.
"[Today's visit] has laid the groundwork for my state visit, which should be sometime in the first quarter of this year, where we hope to conclude some very strong agreements of mutual benefit", Kenyatta said.
During their meeting, the leaders discussed topics including trade, the South Sudan conflict and evidence of slave trading in Libya, according to the statement.
The ANC today held its birthday celebrations in East London where it was commemorating its formation in 1912.
President Jacob Zuma was booed by ANC supporters at the party's January 8 statement event in East London on Saturday.
He said the message of unity that Ramaphosa has been delivering is one that resonates well, not only with South Africans but also with other parties on the African continent.
President Kenyatta will also meet the Johannesburg business community and Volkswagen South Africa CEO Thomas Schaefer, who set up a vehicle assembly plant in Kenya in December 2016.
But Ramaphosa's election win has injected a sense of optimism that the ANC, which has governed South Africa since the end of apartheid in 1994, could win back the trust of voters and investors disillusioned with Zuma's rule.