This visit is expected to be low key in the capital Nairobi unlike his previous visits where he electrified hundreds of Kenyans who lined the streets to see him as a senator in 2006 and then as president 2015.
The visit takes place despite lobby groups, such as CAGE Africa and Palestine Solidarity Alliance, calling on the Nelson Mandela Foundation to "uninvite" Obama after he was announced as the guest speaker for the lecture last month, claiming Obama's principles were "contrary" to Mandela's.
Obama took to his Twitter handle to announce the six all-African authored books ahead of his first visit to Africa since leaving office on January 20, 2017.
He wrote, "This week, I'm traveling to Africa for the first time since I left office - a continent of wonderful diversity, thriving culture, and remarkable stories".
"Over the years... I've often drawn inspiration from Africa's extraordinary literary tradition", he said of the list.
Mr Obama was last in Kenya, which is also home of his late father, back in 2015 when he was still a serving United States president, and he pledged to return for another visit when he left office. "As I prepare for this trip, I wanted to share a list of books that I'd recommend for summer reading".
He said that his maiden visit to the East African country while he was in his twenties profoundly influenced his experience which inspired "Dreams from My Father", the first book he wrote.
Mr Obama is set to issue a flagship speech in Johannesburg as South Africans celebrate the 100th anniversary of Nelson Mandela's birth this week.
Want to make history and change the world? But as the Washington Post reported at the time, it was Senate Majority Leader Mitch McConnell who warned that any attempt by the White House to publicly discuss the Russian meddling before the elections would be considered an act of partisan politics.