The two presidents told the media that they had discussed a number of issues which included deepening and strengthening relations between the two countries.
President Zuma announced that he would host President Kenyatta for a State visit latter this year.
In a video that is slowly getting viral and one that was seen by Zipo.co.ke, Kenyatta is seen alighting from his limousine with one security officer opening the door but his counterpart delays to hold it making it swing back and hit the President as he adjusted his coat.
"Industrialisation is key to creating job opportunities for the youth and wealth for our nations and peoples", President Kenyatta said.More news: Merck Sharp & Dohme Corp (NYSE:MRK) Q3 2017 Institutional Investor Sentiment Steady
He also briefed Zuma on the situation in conflict-ravaged South Sudan and the slave trade in Libya.
Presidents Kenyatta and Zuma said the two countries' ruling parties - Jubilee and the ANC - would begin working together.
Kenyatta said the relationship between South Africa and Kenya was already strong but they both want to take it further.
The African National Congress (ANC) is now hosting a Gala Dinner in East London this evening ahead of its birthday celebration on Saturday.More news: Active Stocks in Review: Target Corp. (TGT), Emerson Electric Co. (EMR)
Saturday's events at the stadium start at 7am and the ANC's new president‚ Cyril Ramaphosa‚ is expected to make his address at about 11am. "We look forward to concluding and signing various agreements".
Ramaphosa was picked to succeed President Zuma as leader of the ANC in a national congress last month.
South Africa's rand traded sideways on Friday as market participants waited for political developments and technical indicators following a volatile week driven by speculation over President Jacob Zuma's future.More news: Trump lawyer arranged hush money payment to porn star