Speaking to State House correspondents, he said his meeting with Osinbajo was a "usual familiarisation visit".
Osinbajo and Sambo met behind closed doors on Wednesday, May 10, at the Presidential Villa, Abuja.
Speaking to State House correspondents, he said, "I have come to visit Mr Vice President and the Acting President as a usual familiarisation visit.
"As you know, former presidents visit Mr President and former vice presidents visit incumbent vice president."
Sambo expressed gladness to meet his former staffers during the visit and thanked them for according him a good reception.
"I am happy to see all of you our old colleagues here and I want to thank you very much for this very good reception," he said.
Sambo, however, declined to reveal his discussions with Osinbajo, saying it was private.
He was the Vice President to former president Goodluck Jonathan who handed over power to President Muhammadu Buhari on May 29, 2015.