Kibaki, who will remain president, gave the speech as he chaired a meeting of the Grand Coalition Joint Parliamentary Group before officially opening the parliament session.
"I urge all honourable members to support the proposed legislative measures which will go a long way in ensuring peace and stability in our country," he said.
"I also appeal to you all, to be guided by a strong sense of national unity, which must override all partisan considerations."
The agreement between Kibaki and Odinga was reached after weeks of mediation by Kofi Annan, the former UN secretary-general.
Both sides have agreed to set up a committee that will outline policies for the coalition government to be formed in the near future.
The newly formed cabinet coalition will replace the previous government announced by Kibaki, days after he was controversially declared the winner of the presidential polls.
Last month's accord had been well received in Kenya but tough negotiations lie ahead for both sides as the government line-up remains yet to be decided.