At Thursday's vote in Kenya's parliament, lawmakers supporting the motion said the country was part of the global community and could not ignore the appeals for help from other countries.
They also argued that the East African nation has a history of peacekeeping missions such as in Somalia, the Democratic Republic of Congo and Sierra Leone.
Kenya's offer won the UN Security Council's approval last month, but the plan has been opposed by the main opposition party.
About 300 gangs are active across Haiti and 80% of the capital, Port-au-Prince, is under gang control.
These groups have taken increasing control of the city since the assassination of the country's president in 2021 threw Haiti into a political crisis.
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