The possible coexistence and/or competition of kaon condensation with hyperons are investigated in hyperonic matter, where hyperons are mixed in the ground state of neutron-star matter. The formulation is based on the effective chiral Lagrangian for the kaon-baryon interaction and the nonrelativistic baryon-baryon interaction model. First, the onset condition of the s-wave kaon condensation realized from hyperonic matter is reexamined. It is shown that the usual assumption of the continuous phase transition is not always kept valid in the presence of the negatively charged hyperons ({sigma}{sup -}). Second, the equation of state (EOS) of the kaon-condensed phase in hyperonic matter is discussed. In the case of the stronger kaon-baryon attractive interaction, it is shown that a local energy minimum with respect to the baryon number density appears as a result of considerable softening of the EOS due to both kaon condensation and hyperon mixing and recovering of the stiffness of the EOS at very high densities. This result implies a possible existence of self-bound objects with kaon condensates on any scale from an atomic nucleus to a neutron star.