He was speaking after meeting Sudanese Foreign Minister Mohamed Aldirdiri who is mediating the peace talks, and confirmed the final agreement would be signed on August 5.
South Sudan opposition parties of the South Sudan Opposition Alliance (SSOA) and other factions have refused to sign the deal over power-sharing disputes at the state level.
Sudan's official SUNA news agency says Kiir will head the government during the transitional period and Machar will return as first vice president.
On Friday, Kiir pledged the deal would "not collapse" because it, unlike the previous peace initiatives, had not been imposed by outside powers.
President Salva Kiir's team will take 20 positions in the new 35-member government, 9 positions will go to Machar's group and the rest will go to other small opposition groups. "Whoever signed this agreement will remain committed to it so that we rescue the suffering of our peoples".
"Last month the White House warned that "a narrow agreement between elites" would not solve the problems plaguing South Sudan".
The parliament will be comprised of 550 lawmakers, including 332 from Kiir's group and 128 from Machar's faction.
A similar arrangement fell apart in July 2016 when fighting erupted in the capital, Juba, and Machar fled the country.
"I need to get for them their transport, and one person needs a motorcade of maybe five vehicles. So there are so many things need to be done".
The talks come as part of a regional push aimed at achieving peace in the country, which plunged into a devastating conflict just two years after its independence from Sudan. The conflict between the two rivals is aggravated by tribal divisions: President Kiir belongs to the dominant Dinka tribe, and Machar is an ethnic Nuer.
"As we have done, we shall continue to walk with you from this moment of great expectation to the full implementation of a Revitalized Agreement", President Kenyatta said.