During his two-day visit Mr Obama will hold talks with Kenyan President Uhuru Kenyatta and other top officials.
Mr Obama earlier said he would deliver a "blunt message" to African leaders about gay rights and discrimination.
US President Barack Obama has left Washington for Kenya on a trip that will also include a stop in the Ethiopian capital and a visit to the home of the African Union.
He also said the trip to Kenya and then Ethiopia would show US commitment to fighting terror in East Africa.
President Obama's Air Force One touched down at Nairobi's international airport shortly before 20:10 local time ( 17:10 GMT).
He was greeted by President Kenyatta with a handshake and embrace.
Joining him on the trip is National Security Adviser Susan Rice, foreign policy aide Ben Rhodes and White House spokesman Josh Earnest.
Before heading off for the trip, Obama's fourth to Africa since taking office, he spoke about the promise of, and difficulties on, the continent.
"Despite its many challenges and we have to be clear-eyed about all the challenges that the continent still faces - Africa is a place of incredible dynamism, some of the fastest-growing markets in the world, extraordinary people, extraordinary resilience," Obama said.
Source: Aljazeera
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