Nairobi seeks closer interaction with Tehran in various sectors, especially economy.
Speaker of the Kenyan National Assembly Justin Muturi made the statement at a joint press conference with Parliament Speaker Ali Larijani, after their meeting in Tehran on Saturday.
"In our discussions, we highlighted the need for further improving our friendly ties, expanding economic cooperation and deepening mutual cultural understanding," IRNA quoted Muturi as saying.
The Kenyan lawmaker said parliaments can play a key role in strengthening bonds of friendship between the two countries.
"In today's meeting, we made a decision to establish parliamentary friendship groups in the two parliaments," he said.
Muturi invited Larijani for a visit to Kenya in the near future.
Larijani said Iran has always sought close partnership with Kenya, hoping that Muturi's visit will be a milestone in the history of relations between the two countries.
"We discussed cooperation in industrial, agricultural, oil, gas and medical fields," he said.
Larijani said the two sides also talked about cooperation against terrorism, as the two countries are confronting terrorist groups in West Asia and East Africa.
"The views of the two countries on terrorism and their will to fight it are similar," he said.
Kenya has been repeatedly hit by the Al-Qaeda-affiliated Al-Shabab terrorist group in recent years, notably a terrorist attack at a university in northeastern Kenya last year that left 147 dead.
Iran is a key partner of Iraq and Syria in their fight against the self-styled Islamic State terrorist group, which has large parts of the two Arab countries under its control and has repeatedly threatened to target Iran.
