He was accompanied by his wife who was receiving treatment in Germany
Musyoka made a quiet return and was accompanied with his wife Pauline, who has been undergoing medical treatment in Germany.
Unlike tradition, there was no political entourage or members of the press to welcome the Wiper Party Leader.
The former Vice President will make his first public appearance on Thursday when he is expected to visit the family of his deceased political ally, Francis Nyenze.
Musyoka was initially expected to attend Nyenze’s burial, last week, but the plans were cancelled after he reportedly failed to get a ticket in time.
The NASA co-principal’s arrival is expected to boost the Opposition coalition which has been having internal wrangles.
Wiper Party MPs, led by Borabu’s Robert Momanyi, forced National Assembly Speaker Justin Muturi to suspend debate on membership of Parliamentary Service Commission after the complained of being left out by ODM.