Kenyatta said they "have a responsibility as leaders to find solutions".
The truce comes months after Kenyans went to two violent elections in the last quarter of 2017.
Their final statement in February pronouncing that any dialogue can only be held on a basis that recognises Mr Kenyatta as the validly elected President of Kenya was outrightly opposed by Nasa.
U.S. Secretary of State Rex Tillerson has canceled a day of events in Kenya due to illness.
The election season blunted growth in Kenya, East Africa's richest economy and a western ally in a volatile region.
President Kenyatta was sworn in for a second term last November.
Hogaamiyaha Mucaaradka Kenya Mr.Odinga ayaa dhankiisa sheegay in la joogo waqtigii la xalin lahaa dhibaatada ama khilaafka u dhexeeyaa isaga iyo Kenyatta.
While political violence did not come close to that which followed the 2007 vote - when over 1,100 lives were lost - the disputed elections led to the deaths of over 100 people, a lot of them shot by police. "We need to get out of this cycle of just these two men, or a few people at the top, meeting", he said.
He said they have agreed to stop any dissent immediately and not to allow the country's diversity to kill their nation.
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.
A joint statement signed by Kenyatta and Odinga identified key areas that will be at the center stage of their new mission to promote national healing.
Tillerson who arrived in Nairobi on Friday as part of his African tour was received by Foreign Affairs Cabinet Secretary Monica Juma.
"The US should not be dismissed or discounted".
Odinga, who spoke first, expressed similar sentiments. "They have successfully engineered this", said Aly Khan Satchu, an independent analyst in Nairobi.
With the country at breaking point and growing political and economic injustices reigniting deeply ethnic hatreds, Raila Odinga chose yet again a path he often has: the path of negotiation rather than confrontation to right the wrongs and protects the people from the horrors that this drawn-out, looming conflict posed.
Senate speaker Ken Lusaka and Kiambu Senator Kimani Wamatangi speaking on the sidelines of an induction retreat for members of the senate roads committee, said the move will unite the country.
Andy Murray looks to sport management role for future talent
He says that he still wishes to compete in professional tennis but he also wants to expand his prospects and share his knowledge. At the moment he is juggling many balls and he wants to remain focused on what he knows, but over time his company will develop.
Cyber Monday 2017 – The top sellers in electronics this year
Apple’s 9.7-inch Wi-Fi enabled iPad Pro was also still a great seller thanks to massive price discounts from retailers. Microsoft dropped their game changing console update, the Microsoft Xbox One X with a 1TB hard drive and 4K compatibility.