Mr Kenyatta said: "We will begin a process of discussing what ails us and what creates division amongst us".
The rare meeting of scions of Kenya's founding fathers elicited mixed reactions but there was a common feeling of optimism.
U.S. Secretary of State, Rex Tillerson, said on Friday in Nairobi he had shared his concerns with Kenya's President Uhuru Kenyatta about the importance of democracy.
One lawmaker said Kenyatta, who is in his final term, and Odinga, who turned 73 in January, may be keen on securing their legacies with the new found unity of objective.
On his part, Odinga vowed to be at the frontline to restore healing in Kenya.
"NASA is an idea owned by Kenyans which will survive and outlive any one individual", the Amani National Congress leader said.
This is the first time the two are meeting since their fallout following the hotly contested August 8, 2017 General Election and October 26, 2017 repeat presidential poll that MrOdinga boycotted.
Speaking at press conference in the capital Narobi, Mr Tillerson also stressed on the U.S. and Kenya's "shared fight against terrorism", referring to Kenyan troops serving in Somalia.
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Tillerson arrived in Nairobi on Friday, and met with President Uhuru Kenyatta.
Kalonzo Musyoka, Musalia Mudavadi and Moses Wetangula have all maintained that they were neither informed nor consulted about the meeting but only came to learn of it on television.
"As we fight ostensibly to save ourselves from each other, the reality is that we need to save our children from ourselves".
"My brother [Uhuru Kenyatta] and myself have therefore come together today to say this dissent stops here". "We refuse to allow our diversity to kill our nation".
"This is a call to self-reflection", he added.
Speaking during the meeting with Tillerson, President Kenyatta hailed the presence of top American companies in Kenya: "Leading US multinationals such as IBM, Microsoft, Google, General Electric, Coca Cola, and Bechtel, to name but a few, have opened their regional offices in Kenya; thereby providing themselves with the best platform to access the vast African market".
The two leaders agreed to work with a joint team of experts to address endemic challenges like ethnic hostilities, corruption, negative politics, exclusion, insecurity and divisive electioneering.