“Hello Kenya! Delighted to visit this friendly nation, with whom India has enjoyed close ties historically,” Modi said on Twitter.
This is the first prime ministerial visit from India to this east African nation in 35 years since the visit of then Prime Minister India Gandhi in 1981.
Modi will address an Indian diaspora rally later on Sunday evening.
Kenya is home to around 80,000 people of Indian origin.
On Monday, the Prime Minister will hold bilateral discussions with Kenyan President Uhuru Kenyatta.
He will also visit the University of Nairobi and interact with students there.
After concluding his engagements in Kenya, he will depart for India on Monday.
Apart from Kenya and Tanzania, Modi's five-day trip to Africa also took him to Mozambique and South Africa