Uhuru after a closed-door meeting with SA Deputy President Cyril Ramaphosa said Africans have a common heritage, which needs to be exploited for their benefit.
Kenyatta congratulated Ramaphosa with his "victory" of being elected as ANC president in December.
President Kenyatta, who is the chief guest in today's celebrations marking 106 years of the ANC, is expected to give a keynote address on Pan Africanism and the role of political parties in promoting democracy in Africa. Uhuru said the two countries are not in competition but in a partnership that complements each other to improve the lives of their citizens.
Kenyatta said they seek to increase connectivity between South Africans and Kenyans, and that there was an understanding that the future of Africans are "tied at the hip".
Ramaphosa on his part said ties between the two countries can be boosted by opening doors to the citizens to travel and do business without impediment.
"We will then conclude key issues when President Kenyatta is back later this year", President Zuma said.
They pinpointed trade and infrastructure as the pillars that would emphasize the relationship between Kenya and South Africa. He added that the two countries have a lot to share in exploitation and development of natural resources for the benefit of their citizens.
"It will enable us to create the jobs that our young people require", Kenyatta said.
President Kenyatta made his official visit to South Africa on Thursday in his first foreign trip since he was sworn-in for a second term.
Jubilee party leaders Vice-Chairman David Murathe and Secretary-General Raphael Tuju accompanied President Kenyatta at the dinner.
He emphasised that the new ANC leadership was acutely aware that it needed a programme of renewal so that South Africans could again trust that it was fit to rule the country. Some came singing songs of unity, while others called for change and the removal of President Jacob Zuma. The majority of party supporters were wearing yellow ANC T-shirts bearing Ramaphosa's face.