This is the first meeting of the two leaders since last year's general elections sparked conflict nationwide.
Kibaki told reporters that he will continue to solve the crisis.
"I remained committed to dialogue and reconciliation of all levels of our society. I appeal to all the Kenyans to remain calm and to shun violence as we endeavor to find solutions."
Odinga says they have taken the first vital steps in resolving the electoral dispute and conflict that has ravaged the country for nearly a month.
"We agreed to continue our meetings till the problems that our country faces are solved."
The country's political crisis has triggered hundreds of death and displaced thousands of people.