The former head of state attended mass at the Consolata Shrine in Nairobi and seemed to be of sound health.
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Mr Kibaki had been admitted in a South African hospital where he underwent surgery.
Before being moved to South Africa, the retired president had been hospitalised at the Karen Hospital in Nairobi after he fell ill at his Muthaiga home
Kibaki served as Kenya’s President for two five-year terms, from 2002 to 2013, before he was succeeded by the incumbent Uhuru Kenyatta.
The former President was appointed special envoy by United National Educational, Scientific and Cultural Organisation (Unesco).