The 78-year-old pontiff was given a rapturous welcome as he arrived in Kangemi, home to more than 100,000 people who live in shacks without sewerage, including 20,000 who belong to the local Catholic parish.
People arrived long hours before dawn in the hope of catching a glimpse of the pope, who has made humility and help for the impoverished a hallmark of his tenure.
Wild singing and ululating broke out as Francis arrived in the Popemobile down the streets, weaving through the sea of tin-roofed homes.
After visiting Kangemi's Catholic church, the pope will meet young people at Kasarani national stadium, where US President Barack Obama gave a keynote speech when he visited Kenya in July.
After arriving in the capital Nairobi on Wednesday at the start of his first visit to Africa, the pope celebrated a giant open air public mass and spoke forcefully about the dangers of radicalisation and climate change.
The fight against poverty has been a key element of his visit.
"Experience shows that violence, conflict and terrorism feed on fear, mistrust, and the despair born of poverty and frustration," he said after arriving on Wednesday.
It was a theme he picked up again before Thursday's mass on meeting leaders from different faiths. "All too often, young people are being radicalised in the name of religion to sow discord and fear, and to tear at the very fabric of our societies," the pope said.
"We are confronted with a choice which cannot be ignored: either to improve or to destroy the environment," he said.
Thousands of people queued through the night braving torrential downpours to take part in Thursday's mass.
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