President Sata will be laid to rest at the Embassy Park – the burial site for Zambian presidents where two other leaders, Levy Mwanawasa and Fredrick Chiluba are buried.
The Zambian leader died on October 28 at 77 years of age while undergoing treatment in London.
In his condolence message to the government and people of Zambia, President Kenyatta described the late Zambian President as an exceptional leader gifted with unique, admirable abilities and strong values.
The funeral is expected to be attended by other regional leaders.
The plane carrying President Kenyatta and his delegation departed Jomo Kenyatta International Airport shortly after 5am.
President Kenyatta was seen off at the airport by the Interior Principal Secretary Monica Juma, Vice Chief of Defence Forces, Lieutenant General Samson Mwathethe and Inspector General of Police David Kimaiyo among other senior government officials.