In 1995, Kirby helped found two charities: Prostate Research Campaign and The British Urological Foundation, later renamed The Urology Foundation, which was established with funds from the British Journal of Urology International and the British Association of Urological Surgeons. His fundraising activities have included climbing Mount Kilimanjaro, trekking in Nepal and cycling across the Andes. By 2005, he had completed three London Marathons.