Lawyer and National Assembly Majority Whip Silvanus Osoro intervened, seemingly calming Oduor and guiding her back to her seat.
Earlier, tensions flared when a clerk representing lawyer Charles Mugane attempted to serve Masengeli with a petition challenging his fitness for public office.
The court has since resumed its proceedings and order restored.
Masengeli arrived in court at 10 am on Friday, accompanied by a battery of lawyers, in an attempt to reverse his six-month sentencing for disobeying court orders in the disappearance of three Kitengela men.
He was last week sentenced to six months in prison for contempt, to which he argued he was attending to 'official duties.'
This is a developing story and will be updated.