Gandhi spent about 10 minutes in the padayatra at Noornad in Alappuzha district and was cheered by party workers who thronged in large numbers.
He waved at those who converged on the sides of roads by standing on a vehicle.
The "Yuva Kerala Yatra" campaign was led by State Youth Congress President Dean Kuriakose, highlighting the themes of secularism and non-violent society.
The yatra was inaugurated by KPCC president and state Home Minister Ramesh Chennithala last month at Kasargod in north Kerala.
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He joined the oral polio vaccine campaign at the hospital at Thuravoor near Alappuzha and interacted with doctors, paramedics and local people who thronged to meet him.
Gandhi spent about half-an-hour there.
When he arrived, administration of polio drops was in progress and he immediately joined the campaign by giving polio drops to a baby.
The Congress leader also lavished praise on the universal public health care system in Kerala, terming it as "one of the best in the country."
Gandhi also praised the services rendered by nurses from the state not only in different parts of India but also in many foreign countries.
He was received at Nedumbassery airport near Kochi by Union Minister Vayalar Ravi, State Home Minister Ramesh Chennithala and other party leaders.