"He would later be executed at night. We heard the loud siren and knew he was no more and in the morning, he was brought by four armed white men stripped naked and his hands and legs tied," he told mourners.
Kiboko said the white man demanded that they bury Kimathi, but they refused.
"Stephen Mugo, who was among us in detention told the white prison officer to bury Kimathi himself. We refused to bury Kimathi and a fight broke out," he said.
He narrated that as the war went on, another white man came and stopped the fight.
"The second white man brought a mattock and a spade and we were made to dig Kimathi's grave. If it was very deep it was four and a half feet," Kiboko recalled.
He appealed to President Ruto to allow Mau Mau fighters who are still alive to go back to Kamiti and locate Kimathi's grave site.
"I ask Mr President to allow Mau Mau fighters to go and locate the grave. We can't go there now without your permission, give us two months and we will remove Kimathi's remains where they are. I was one of those who buried him. I know of the guards we were with at Kamiti.
"Give us time to get Mzee. He has shackles on his legs and hands. In that situation, Mau Mau feels they are still tied. Those still alive are General Kiambati and Muraya wa Mbuthia," he said. "If we are given two months, Kimathi will not lie in that grave again," he added.
Mourning Mukami, Kiboko said he was saddened by her death and felt heartbroken.
President Ruto responded to the calls for exhuming Kimathi's body and giving a decent burial befitting a hero saying Kimathi was buried in shame and shackles like a criminal.
"Kimathi was not a criminal. He was a hero. The government will join hands with you in tracing his grave and remove his remains and give him the respect that he deserved.