Several passengers were on Monday night humiliated as they traveled along the Nakuru-Nairobi highway.
The passengers were unaddressed and robbed at gunpoint.
A police source said that victims of the theft said two people were alighting at Soko Mjinga when two thugs emerged from the bush with guns.
They commandeered the vehicle into the Kinale forest where they undressed them and stole phones and cash in their M-pesa.
The vehicle had reportedly left Nairobi around 9 pm for Naivasha.
The case was reported at Lari police station.