During his two-day visit President Barack Obama will hold talks with Kenyan President Uhuru Kenyatta and other top officials.
The trip to Kenya and then Ethiopia is designed to show US commitment to fighting terror in East Africa.
The Air Force One touched down at Nairobi’s international airport shortly before 20:10 local time.
Arriving in Kenya, where his father was born, Barack Obama was greeted at the airport by President Uhuru Kenyatta with a handshake and embrace.
Barack Obama also hugged his half-sister Auma, who then travelled in the presidential limousine to the hotel where the president is staying.
Nairobi is in lockdown, many streets are closed and people are opting to stay at home.
Barack Obama, the first sitting president to visit Kenya, will hold talks on trade and investment, and also security and counter-terrorism.
He also becomes the first US leader to address the African Union when he travels on to Ethiopia on July 26.
This is Barack Obama’s fifth trip to Africa as president, but despite his close family links to Kenya, he has faced criticism in some African countries over the legalization of gay marriage in the US.
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