The Oxford United right back was initially on a standby list for DR Congo, but an injury to Ipswich Town defender Axel Tuanzebe saw Kioso promoted to the squad.
DR Congo face Tanzania in a double-header of Africa Cup of Nations qualifiers, with the ties taking place later today and then on Tuesday.
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Kioso, who is also eligible for the Republic of Ireland, told this newspaper: “I’d definitely say it’s a proud moment for me and my family, especially my parents.
“A lot of hard work has gone into my career, and I obviously have to give credit to God.
“God’s got me here, and I know my parents have got me to where I am now, so there’s so much credit to not just my parents, but all my family. My grandma, my aunties and my sisters. I have to give all my thanks to them.
“I’m just happy, and more importantly I need to go there, do what I need to do, and be ready for when I come back as well.”
Kioso joined the U’s from Rotherham United in June, and has gone on to start nine games for the club, seven of which have come in Sky Bet Championship.
He added: “I came in with the mentality of wanting to get called up, but it wasn’t the only thing on my mind.
“I knew when I came here, I wanted to make sure I was playing well and helping the team as much as possible.
“At the end of the day, it’s only October and I won’t get ahead of myself, and the team won’t get ahead of itself either. I just need to keep working hard and do what I’m doing.”
Kioso emerged at Hartlepool United, where he played 67 Vanarama National League games, before joining Luton Town in January 2020.
Loan spells at Bolton Wanderers, Northampton Town and MK Dons followed, prior to signing for Rotherham in June 2022.
He played 13 times during his debut campaign for the Millers, and then joined Peterborough United on loan at the beginning of last season.
Kioso was an instant hit at London Road, where he was given the captaincy, while starting 24 League One games for the Posh.
However, he was recalled by Rotherham at the beginning of the January window, as the Millers looked to fight their battle against the drop from the Championship.
Kioso turned out 12 times, but Rotherham’s fight against relegation was unsuccessful, with the Millers’ fate sealed at the beginning of April.