The Wiper leader secretly jetted back into the country on early Wednesday morning.
The Wiper Party leader has been away from the country since October attending to his wife who was unwell and receiving treatment in Germany.
He was accompanied by his wife Pauline as they quietly jetted back into Kenya minutes after 2am early Wednesday morning.
On Thursday, Musyoka was seen in public for the first time as he went to visit the family of the late Kitui West MP Francis Nyenze at their home in Kyondoni, Kitui County.
He was accompanied by Wiper leaders including a host of MPs led by the party chairman and Makueni Governor Kivutha Kibwana.
On hand to receive Musyoka at Kyondoni were relatives and close family of the late Nyenze as well as Kitui Governor Charity Ngilu.
Musyoka missed last week's burial of the late MP after he missed his planned flight.
He eulogized Nyenze as a great leader and termed him as his personal family friend.
The funeral was attended by thousands of mourners and leaders led by NASA Principals Raila Odinga, Musalia Mudavadi and Moses Wetangula.
The late Nyenze passed away earlier this month at the Nairobi Hospital from colon cancer.