The deployment comes at a crucial time for South Sudan, which has endured years of conflict, resulting in severe humanitarian crises and widespread displacement.
The charges had led to the temporary suspension of crucial aid deliveries to the nation, where thousands rely on external humanitarian assistance.
A delegation from the Juba government, led by Albino Mathem, the country’s presidential envoy, arrived in Nairobi on Tuesday, ahead of the scheduled talks.
It comes as South Sudan prepares for its first post-independence elections scheduled for December this year, but uncertainty looms over whether the election will take place.
The development follows South Sudanese President Salva Kiir's request last December for Kenyan leader William Ruto to mediate.