The Oxford United right back, who was on a standby list, replaces Ipswich Town defender Axel Tuanzebe, who withdrew due to injury.
DR Congo face Tanzania in a double-header of Africa Cup of Nations qualifiers.
Kioso joined the U’s from Rotherham United in June, and has gone on to start eight games for the club, six of which have come in Sky Bet Championship.
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The defender, who is also eligible for the Republic of Ireland, said earlier this summer: “I know that my time is going to come for sure, and I know there have been a few sniffs at international football, but I’m not going to put pressure on myself.
“I know it’ll come at the right time, and it’s down to how I perform week in and week out.”