The Human Immunodeficiency Virus and Acquired Immune Deficiency Syndrome (HIV/AIDS) continues to have enormous implications on the health, economic and psychosocial well-being of individuals, family structures, and communities. Sub-Saharan Africa is the region most affected by the HIV/AIDS. The purpose of this study is to investigate the social and cognitive factors associated with HIV test uptake in the general population of Kenya. Data from the 2009/2010 Kenya Demographic Health Survey were utilized. Univariate, bivariate and multivariate analyses were conducted using STATA/SE software. Results showed that there were statistically significant differences between men and women in previous HIV testing status and HIV test uptake. Over 90% of participants reported knowing a place to seek testing. The mean HIV related knowledge was higher in men than women (x =0.1; 95% CI 0.04-0.16) than women (x = 0.04; 95% CI [0.01- 0.1]). Differences were found in expressed HIV stigmatizing attitudes, with women reporting more stigmatizing attitudes than men. For example 9.9% of women compared to 4.7% of men reported very high HIV stigmatizing attitudes. Weighted multinomial regression analyses were conducted with individuals who had not been previously tested and unwilling to be tested utilized as the reference group. Among the factors found to be significantly associated with HIV uptake include: HIV related knowledge- higher levels of HIV related knowledge were associated with increased HIV test uptake for men and women, HIV related stigma- lower levels of HIV related stigma were significantly associated with HIV test uptake for women but not men, acceptance to teach condoms to children and knowledge of someone infected with HIV/AIDS was positively associated with HIV test uptake, gender- compared to men, women were significantly less likely to agree to be take the HIV/AIDS test if not previously tested (OR 0.79; 95% CI [0.64, 0.97]) but significantly more likely to accept the HIV/AIDS test when offered (OR 1.341; 95% CI [1.02, 1.76]). Other significant associations included: Age, education attainment, sex of head of household, and wanting to keep a family member's tuberculosis infection a secret.