Deputy President Rigathi will leave for South Africa Tuesday night for the inauguration of President-elect Cyril Ramphosa.
The inauguration will be held on Wednesday, June 19 in Pretoria.
A statement from the head of Deputy Presidential Communication Service Njeri Rugene said the DP will represent President William Ruto at the swearing-in event.
“DP Gachagua will deliver a congratulatory message from H.E President Ruto to President Ramaphosa and the people of South Africa,” Rugene said.
She pointed out that Kenya and South Africa continue deepening diplomatic relations for the benefit of their people.
Ramaphosa was re-elected for a second term following the May 29 elections.
South Africa's Parliament re-elected Ramaphosa as the country's president following a coalition deal between the governing African National Congress (ANC) and opposition parties.
The deal was struck after ANC lost its parliamentary majority for the first time in 30 years.
The party got only It got 40 per cent of the vote, while the DA came second with 22 per cent.
The ANC had always polled above 50 per cent since the country's first democratic elections in 1994, which saw Nelson Mandela become president.
Upon confirmation of his re-election, Ramaphosa told South Africa's parliament that the unity exemplified through the coalition was a repeat of scenes witnessed in 1994.
"We have been here before, we were here in 1994 when we sought to unite our country and to effect reconciliation - and we are here now," he said.