[President Donald Trump with Uhuru Kenyatta in a past event. He is pushing for dialogue between Uhuru and Raila Odinga. Photo/Nation]

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Barely a week after President Uhuru Kenyatta's inauguration, US president Donald Trump has challenged him to meet opposition leader Raila Odinga for a 'structured dialogue'.

A defiant Raila has vowed to go on with his inauguration plans with steering committee writing to all NASA controlled counties to secure venues for the oath taking.

"As part of reducing these tensions and strengthening institutions, we urge Kenyans to join together and hold immediate and open national dialogue," read a statement from State Department.

Already, US Principal Deputy assistant Secretary of African Affairs Donald Yamamoto, who holds brief for Trump, is in the country and on Tuesday, he is said to have met Odinga.

According to the Nation, Yamamoto challenged Odinga to drop his swearing-in plans and engage Jubilee in dialogue.

"The US wants constructive dialogue and is ready to reach all parties for genuine conversations,' a source told the Nation.

Although President Uhuru Kenyatta is keen to have dialogue, NASA has maintained that it should revolve around electoral justice.

Both US and Britain have acknowledged Uhuru's victory despite displeasure within the opposition team.