Antenatal care (ANC) is an intervention that is protective against maternal morbidity and mortality, yet it continues to be underutilized in sub-Saharan countries, including Kenya. However, there is a lack of research on women’s experiences and temporality as an influence on attendance to ANC. The study aimed to describe experiences of the mother’s temporal decision-making around seeking help during the antenatal period. Using a qualitative descriptive a sample of 20 pregnant Kenyan women were interviewed on their experiences of accessing and attending ANC. The results revealed that mothers' experiences of antenatal care access and attendance were influenced by various factors categorized using the Betty Neuman systems model; intrapersonal, interpersonal, and extra personal. Four major themes arose from the data i) individual factors and perceptions; ii) sociocultural and economic influences; and iii) system and structural factors related to ANC access and attendance. The mothers reported various barriers that hindered them from attending ANC e.g., long distance to healthcare facilities, lack of transportation, financial limitations, societal beliefs and practices, limited awareness about the importance of ANC, and incivility of the midwives. Given that antenatal care is protective against maternal mortality healthcare stakeholders should consider implementing policy on healthcare linkages that work in communities in which pregnant women can be identified and followed up for better outcomes. The relationship between the midwives and clients is a determinant of attendance where cases of incivility were reported. Therefore, midwives should enhance mutual respect for client values, preparedness and expressed needs through good communication, individualized care and involvement of the family as needed to improve ANC attendance.