A reproducible system for production of transgenic plants via Agrobacterium mediated transformation of pigeonpea (Cajanus cajan L.) was developed. Shoot apices and cotyledonary node explants were transformed by cocultivation with Agrobacterium tumefaciens strain LBA4404. The strain harbours a binary vector carrying the reporter gene (β-glucuronidase (uidA) and the marker gene neomycin phosphotransferase (nptII). Cocultivated explants were cultured on shoot regeneration medium with 2mgl^-1 BAP and kanamycin (50μgml^-1 for selection (MS1). Approximately 45-62% of the explants produced putatively transformed shoots on the selection medium. Multiple shoots were repeatedly selected on 0.5mgl^-1 BAP and 25μgml^-1 kanamycin medium (MS2) The elongated shoots were subsequently rooted on a medium supplemented with 25μgml^-1 kanamycin sulfate (MS3). The transgenic plants were later established in pots. Although transformation was achieved with both cotyledonary node and shoot apices, cotyledonary nodes responded better with 62% of the explants producing GUS positive shoots after selection on MS2 medium. The presence of uidA and nptII genes in the transgenic plants was verified by PCR analysis. Integration of T-DNA into the genome of transgenic plants was further confirmed by Southern blot analysis.