Mr. Kioko has been serving as the Member of Parliament of Machakos Town since 2007 and is now serving a third term as the the Member of Parliament for Machakos Town. He has been on various political parties. He won the 2017 general elections under a Jubilee Party ticket, having defected from the Chama Cha Uzalendo party which is currently a member of the Coalition for Reforms and Democracy (CORD). He was also a member of ODM from 2007 to 2013. In the 11th Parliament, he served as a member of the House of Business Committee, Departmental Committee on Agriculture, Livestock and Co-operatives, Departmental Committee on Health, Agriculture, Livestock and Co operatives Committee. He holds a Bachelor’s degree in Veterinary Medicine from the University of Nairobi.