Gen Kainerugaba arrived in Kigali on Thursday and commenced his engagements with a private meeting with Rwandan President Paul Kagame.
The discussions focused on enhancing cooperation and fostering mutual understanding between their respective nations.
On Friday, Gen Kainerugaba delivered a lecture of opportunity to officers of the Rwanda Defence Force (RDF) and allied forces at the RDF Senior Command and Staff College in Musanze, about 100 kilometers from the capital Kigali.
During his address, he emphasized the critical importance of collaboration and unity among African militaries and nations to address shared security challenges and promote regional stability.
Such high level visits demonstrate the commitment of both countries to deepening diplomatic and military relations.
As he left, Gen Kainerugaba was seen off at Kigali International Airport by his counterpart, General Mubarakh Muganga, the Chief of Defence Staff of the Rwanda Defence Force and other RDF Generals.
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