The deal called for several "actions with immediate effect", including "the order for all troops of the DRC armed forces deployed in the capital (to return) to their initial positions".
International peacekeeping forces on Tuesday rushed reinforcements to Kinshasa as foreign governments appealed for an end to fighting that broke out after the release of provisional presidential election results Sunday, setting Mr Kabila and Mr Bemba up for a second round run-off.
The European peacekeeping force EUFOR has called up reinforcements including two attack helicopters and some 250 German, French, Portuguese and Swedish troops stationed in nearby Gabon to add to the 1,100 troops already in the country.
The UN peacekeeping force, MONUC, said it was now protecting Mr Bemba's residence with a "large security force" after the villa came under fire from army tanks on Monday.
The latest fighting has left at least three dead, an AFP journalist reported, while witnesses said they had seen the bodies of "several civilians" in the same central district of the capital where violent clashes took place.
They were triggered by the release of provisional first round results from the July 30 presidential election which gave Kabila 44.8 percent of the vote against 20 percent for Bemba, a former rebel leader.
Kofi Annan expresses concern
The two men must now contest a second round run-off scheduled for October 29.
Peacekeeping troops are out in force Tuesday and controlled the city's main thoroughfare and crossroads, the biggest UN peacekeeping operation in the world with 17,600 troops.
An uneasy calm has settled on Kinshasa after Mr Kabila issued orders for troops to return to barracks, measures that armed forces Chief of Staff General Kisempia Songilanga Lombe said were implemented immediately.
"No soldier is allowed to carry a weapon unless he has been given orders by his commander. The battalion of military police has been instructed to patrol day and night and arrest anyone who disobeys," General Songilanga said.
Mr Kabila called for the troop withdrawal after meeting foreign diplomats of the international committee accompanying the country's transition to democracy, known by its French acronym CIAT.
In a joint statement, UN Secretary General Kofi Annan, MONUC and CIAT stressed the conflict could only be resolved through dialogue.
EU foreign policy chief Javier Solana expressed his "deep concern" over the violence during telephone conversations with the rival candidates, his spokeswoman said in Brussels.