She was one of the founders of the pan-African women's organisation Akina Mama wa Afrika (AMwA) and the for the Release of Political Prisoners in Kenya[1][2] (CRPPK), to protest the incarceration of Kenyans during Daniel arap Moi's regime.
She went on to complete an MA in development studies and a PhD at Leeds University during her working life in the late 1980s.
[1][2] In 1982, Kihoro and her husband settled in London on exile from Kenya, at a time when Moi's arrests of dissidents had intensified, particularly of lawyers and academics.
With other activists, Kihoro produced and wrote for Kenya News, which was then investigated by Moi's government.
[1] Wangui wa Goro wrote in Pambazuka News: "[S]he was a leader, activist for democracy, freedom, human rights, equality and justice and always stood on the side of the oppressed, particularly women and the poor.