Kenyatta who temporarily handed over power to Deputy President William Ruto on Monday was accompanied by his wife Margaret, his daughter and a few leaders.
Those who boarded a plane with him include Cabinet Secretaries Michael Kamau, Charity Ngilu and Phylis Kandie as well as six MPs and Senators.
Kenyatta did not make a speech at the airport where he arrived in three four-wheel drive vehicles with minimal security.
Chief of Defence Forces General Julius Karangi and Police chief David Kimaiyo were at the airport to see him off, but there was little colour as is usually the case when he travels as Head of State.
At the airport, the president mingled freely with politicians who had been waiting to see him off before he boarded a Kenya Airways flight destined for Amsterdam in The Netherlands.