The Kenyan authorities insist that the cargo of 33 T-72 combat tanks and thousands of rounds of ammunition are destined for the Kenyan military.
But international security experts say all the signs are that the cargo was bound for South Sudan.
Kenya's military spokesman Bogita Ongeri told AFP news agency on Wednesday: "Those who had doubts about the contents and its destination should be there to witness.
"We will all be there to receive the Faina and our military cargo which will be offloaded and taken in for safety in our respective military camps."
A parliamentary committee is investigating the issue.
If the allegations about Sudan are true, it would be a huge embarrassment for the Kenyan government, which helped broker a peace deal between the north and south of Sudan four years ago.
The captain of the ship died two days after it was seized by the pirates but the cause of his death is not yet clear and his body still needs to be repatriated.
Ukrainian television channel ICTV reported on Wednesday that special services sources have suggested the captain may have been poisoned to conceal the cargo's destination.
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