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He was believed to have been preparing to fight with Somali militant group al-Shabab, a Kenyan government spokesman told the BBC, and was later deported.
The Kenyan government had previously denied that Mr Adebolajo had ever visited the country, but spokesman Muthui Kariuki said there had been some confusion as he was arrested under a different name.
In video footage of his court appearance which emerged on Sunday, Mr Adebolajo is heard to say: "These people are mistreating us, we are innocent."