Opener Ruvindu Gunasekera led the way with 51 as Canada finished at 143 for five after its 20 overs. Gunasekera slammed four sixes and three fours in his 38-ball inning.
Captain Rizwan Cheema added 35 as Canada squandered a strong start that saw it reach 82-0 after nine overs.
Kenya reached its winning target with nine balls to spare, rallying to finish at 146 for three after losing its first three wickets for just 52 runs.
The 14-team tournament runs through July 26 in Scotland and Ireland.
The top six sides will join the ICC's 10 full members for the ICC World Twenty20 India 2016, which runs March 11 to April 3.
Canada is in Group B with Afghanistan, United Arab Emirates, Netherlands, Oman, Scotland and Kenya.
Canada's next game is Sunday against Oman.