The study assessed the willingness of smallholder farmers to adopt the recommended agronomic practices of Bambara groundnut in semi-arid lands of Embu County. The study was carried out in three sub-counties i.e. Mbeere North, Mbeere South, and Embu West, of Embu County. Data were extracted with the help of a well-structured questionnaire which was distributed to 384 smallholder farmers who were participants at the farmers’ field schools at the three sites. The data were analyzed using means, percentages, and logistic regression. Results of the study revealed that 60.94% of the farmers were willing to adopt the recommended agronomic practices. The willingness of the farmers to adopt the recommended agronomic practices was influenced by farming experience, farm size, extension contact, participation in farmers’ groups, cropping technologies adoption, and intercropping system used by the farmers. The application of the farmer participatory approach is an innovative way of introducing and promoting less popular but sustainably proven agricultural technologies among smallholder farmers. This is a climate-smart strategy to address the challenges of food in the area. Awareness creation among the farmers using the right extension channels can increase farmers’ willingness to adopt climate-smart technologies such as the production of the highly nutritive and drought tolerant Bambara groundnut in dry areas.