Southern bypass road traffic police officer Wicklife Ngungu who confirmed the incident said the accident happened at around 5pm on Tuesday evening.
According to Wicklife, the Simba Coach bus was ferrying passengers to Nairobi town from Githurai 45 while the truck was heading towards Karen when the accident happened.
Wicklife said the Simba Coach bus was moving at a high speed before it collided head-on with the oncoming truck.
Two people, mother alongside her 2-months-old baby died on the spot.
Three people also sustained minor injuries and were rushed to Kenyatta National Hospital for treatment where they were later discharged.
The body of the woman alongside her 2-months-old baby was moved to Chiromo hospital morgue pending identification.
Police have launched investigations into the Tuesday evening accident that claimed two lives.
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