Prime Minister Raila Odinga and deputy PM Uhuru Kenyatta are favourites to succeed President Kibaki, in the first poll since the post-2007 election violence.
Thousands of supporters gathered for the two rallies in central Nairobi.
The president has urged Kenyans to vote peacefully on Monday and for the losers to accept defeat.
The election is the first to be held under a new constitution, adopted in 2010 in an attempt to avoid a repeat of ethnic clashes which led to more than 1,200 people being killed and an estimated 600,000 others being forced from their homes.
Uhuru Kenyatta addressed supporters at a rally at Uhuru park, around a mile north of Raila Odinga’s main campaign event at the Nyayo national stadium.
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