Kifaru makes a holster adapter. It is on their website in the accessories section under the gun bearer tab, then scroll to the bottom. I just ordered one so i can carry my pistol. I'm sure there other ways but i figured i would give this a try.
If the Kifaru has molle on the waste belt then this will work. I carry my G29 on my pack with one of these holsters. It is like it is sewn on and a very comfortable carry. They also make an attachment to carry on your belt.
i use a crossfire nylon holster that can swap between all my packs regardlees of if they have molle webbing or not. it carries my 329pd greatand cantake it off my pack onto my belt at the end of the day hanging around camp
My stone glacier pack accepts a Bianchi Accumold holster perfectly, with no mods, just slip the belt off and slip the holster on. Any holster for a 2 inch belt will work fine for hip carry. I've got a mountain-lite .357 which rides nice on it.