They have said they will have a meeting on Monday, March 12.
The truce comes months after Kenyans went to two violent elections in the last quarter of 2017.
In the surprise meeting, Kenyatta and Odinga agreed to work toward unifying the country after last year's divisive presidential election.
Bilowgii sanadkan, Mr. Odinga ayaa isu dhaariyey Madaxweynaha shacabka waxa uuna diiday in uu Mr. Kenyatta u aqoonsado in uu doorashada ku guuleystay oo uu Madaxwayne yahay.
U.S. Secretary of State Rex Tillerson has canceled a day of events in Kenya due to illness.
His planned schedule on Saturday had included a visit to a US-funded HIV/AIDS programme and attendance at a ceremony marking 20 years since Al-Qaeda bombed the USA embassies in Kenya and Tanzania, killing 224 people.
The three co-principals on Friday released a joint statement saying they were kept in the dark about the Friday meeting between President Kenyatta and Odinga at Harambee House.
Political analyst and writer Patrick Gathara said such a dialogue is still needed despite Friday's meeting.
Prominent anti-corruption campaigner John Githongo said it was hard to understand why the meeting happened now and he cautioned that "the devil is in the details".
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In the statement, they also rejected the Opposition's mock swearing-in of Mr Odinga as the "people's president", and further criticised Jubilee's excesses of switching off television signals as isolated illegalities.
One analyst said his arrival could be linked to the rapprochement between Kenyatta and Odinga.
Tillerson arrived in Kenya on Friday afternoon for the third stop on his five-country tour of Africa.
"The US should not be dismissed or discounted".
One lawmaker said Kenyatta, who is in his final term, and Odinga, who turned 73 in January, may be keen on securing their legacies with the new found unity of goal.
That's not a coincidence, said independent political analyst Martin Andati.
A High Court has since overruled the government's move and ordered that Miguna be allowed back into the country.
The two men, who also faced off in a 2013 election marred by opposition allegations of vote-rigging, are vying for power in East Africa's economic hub that plays a key role in the Western-backed fight against neighbouring Somalia's Islamic extremists.
This article was reported by the Thomson Reuters Foundation.
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