He joined the Northern Rhodesian African National Congress in 1951 as one of the people fighting for independence from the British.
President Cyril Ramaphosa is among the leaders who have also arrived in Lusaka.
Upon his travel to Zambia, Ramaphosa appointed the Minister of Basic Education Angie Motshekga to serve as Acting President.
Ramaphosa’s deputy David Mabuza is receiving medical treatment in Russia.
Kaunda will be buried next week at a private ceremony for family and invited guests.