Speaking ahead of the trip, Harris said that "two-and-a-half years on from Russia’s full-scale invasion, Ukraine continues to face immense challenges".
He added that Ireland has been "unequivocal and steadfast in our support for the people of Ukraine".
The taoiseach visited bombed-out and damaged buildings in the Borodyanka and Hostomel areas of the city on Wednesday morning.
Harris and Zelenskyy are expected to sign a memorandum of understanding on a new bilateral agreement between the Republic of Ireland and Ukraine during their meeting on Wednesday.
The two leaders discussed the agreement during a brief visit by Zelenskyy to Ireland in July.
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