Speaking while addressing a People's Assembly rally in Mombasa, he urged Mr Odinga who leads the Orange Democratic Party (ODM) party to consider equitable representation in various house committees.
"I want to ask our ODM friends not to grab everything for themselves but also allow Wiper to get a share.
"We are under the same NASA house, and we should feel proud to be under the same parent," he stated.
The Raila Odinga-led team has been facing wrangles over the appointments of Parliamentary select committee leaders.
Wiper and ANC parties have openly opposed the way the positions were shared out in the National Assembly.
They accused ODM of strategically edging out the other partners in the coalition which was formed ahead of the August 8 general election.
Besides the House committee row, the alliance is faced with the pertinent issue of the planned swearing-in of Raila Odinga and Kalonzo as the president of the People's Assembly.
However, Kalonzo stated that the plan is on course and nothing will stop the Opposition leaders.
Mr Musyoka also took a swipe at Former Mombasa Senator Hassan Omar for ditching Wiper for Jubilee terming him as a selfish individual.