The Muslim community in Western region has called for the arrest of people behind the lynching of their relatives.
The group said their loved ones were travelling from Nairobi to Uganda when they were mistakenly killed over child trafficking allegations on Friday.
Those who survived are receiving treatment at Life Care Hospital in Bungoma.
Speaking to the media at the hospital on Saturday, Abdirahim Aden said the family members were attacked by rowdy locals at Emukhwaye village, Butere constituency in Kakamega county.
But the victims got lost on their way.
Aden said they were attacked on claims of being kidnappers as locals raised concerns over high numbers of children getting lost in the area.
“I was shocked after receiving a distress call that our people have been attacked and lynched by irate villagers on allegations of child trafficking,” he said.
The victims were not in any way involved in the vice, he added.
Aden said the vehicle they were travelling in was torched and three people died, while five were critically injured.
“During the occurrence of the bizarre event, the police was able to arrive at the scene and rescue those in hospital, but the vehicle had already been torched by an angry mob who thought the travellers were child traffickers,” Aden added.
The driver of the vehicle, which was hired, was among those who died on the spot.
Aden called on the relevant authorities to investigate the matter for the affected families to get justice.
Farah Abdirahman, a Muslim leader, condemned the incident saying the perpetrators should be charged for taking law into their hands.
“Even if they suspected that the group was on a child trafficking mission, they should have alerted the police to come and deal with them and if possible take them to court but what they did to our people was unacceptable,” he said.
Abdirahman also said the victims were innocent and shouldn't have died such a painful death.
Chief Julius Kiptoo explained that kidnappers had tried abducting a Grade 8 pupil at Mulwanda primary school.
Others screamed, attracting a crowd that attacked the suspects’ car, as the pupil managed to escape.
The registration number of the suspects' vehicle was KCQ 386 Q.
He said none of the suspects had been identified.
The bodies were moved to a private mortuary in Butere as police launch investigations.