The bipartisan session was a town hall meeting at Malcom X College, in Davis's West Side district.
Davis, a Chicagoan who's starting his eighth term in Congress, was host.
He called the town hall unique for bridging party lines.
"This is probably one of a kind, where you have two members of Congress representing different parties," Davis said.
"The mission of Congressman Davis and I is the same. We are both pro-Illinois, and then to pull together," Kirk said.
Kirk and Davis were House colleagues during Kirk's five terms as a north suburban Congressman.