This plea for conversation follows increased violence in the country after an Islamist attack on a university in Garissa in the northwest of the country.
Terror group, al-Shabaab took responsibility for the attack at the beginning of April which left almost 150 people dead.
Those killed were mainly Christian students.
Cardinal John Njue said: "As Christians we ... should engage in a dialogue designed to establish a world where peace prevails."
He stressed that a new agenda is needed because of the changed nature and scope of the dangers now.
The Cardinal was speaking at a service organised by the Catholic and the Anglican Church of Kenya that was attended by evangelical and Pentecostal church leaders too.
Anglican Archbishop Eliud Wabukala also called for renewed action to stop the perpetrators. He said: "The attack should not be forgotten as no one has the mandate to take life.
"The government must move with speed to ensure that justice is served because we hear of arrests and people being taken to court but never the conclusion of the cases."
