Communicable and non-communicable diseases are a leading cause of morbidity and mortality and are contributing to over 60% of global mortality, out of which 80% occur in middle and low-income countries. The objectives of this study were: to examine the influence of legal factors, socio-economic factors, and demographic factors on home-based care delivery in Kenya. The study highlights the gaps in policy and hopefully guides future policy development to identify and establish a systematic approach to dealing with the gaps that relate to home-based care delivery in Kenya. A descriptive research design was utilized to collect data from healthcare workers working in health facilities registered to offer home-based care. The study population was 68 healthcare workers drawn from the nine home care facilities operating within Nairobi County and applied purposive sampling to collect data from healthcare workers. The study employed a semi-structured questionnaire in the data collection process and extensively utilized Google forms and physical questionnaires in the data collection. Data analysis was done using descriptive and inferential analysis. Based on the findings, the study concluded that legal, socioeconomic, and demographic factors had a positive and significant relationship with home-based care delivery in Nairobi. It also indicated that the current ethical concerns, guiding policies, laws, workers’ rights, and privileges among healthcare workers do not contribute to home-based care delivery. The results also indicated that relying on the home environment, client affordability, occupants at home, hazards, and availability of home resources positively improved home-based care delivery. However, healthcare workers’ gender and practice experience did not influence home-based care delivery. The results showed that healthcare workers with a bachelor’s degree positively and significantly contributed to the delivery of home-based care. It was thus concluded that healthcare workers should develop cost-effective home-care management that can be utilized in the long-term by patients through practical guidelines