During the visit, President Kenyatta met His Royal Highness King Abdullah II of Jordan and discussed threats posed by terrorism to Kenya and the Middle East.
He also held talks with His Highness Sheikh Mohammed Bin Rashid Al Maktoum, the Vice President of the UAE and Ruler of Dubai.
Their meeting focused on the latest techniques in surveillance and other technologies UAE uses in ensuring security.
President Kenyatta’s visit also saw the signing of the Promotion and Protection of Investments agreement, a bilateral pact that will promote trade between Kenya and UAE.
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The deal is also expected to boost the tourism industry with an offer by UAE to work out an arrangement where tourists can come through Abu Dhabi and Dubai to Kenya.
The plane carrying the President and his entourage touched down at Jomo Kenyatta International Airport shortly after 9pm.
On arrival, the Head of State was received by Deputy President William Ruto and other senior Government officials.
Ruto was on his part expected to travel to The Hague on Wednesday in time for a court appearance on Thursday.
The prosecution has said his presence is required since the testimony of the witness taking the stand is crucial to its case against Kenya’s Deputy President.