"Our first guest tonight has tripped, bumped, danced, argued and smoked his way into our national onsciousness," Kimmel said as he introduced Ford.
Ford made international headlines last year when he acknowledged having smoked crack cocaine while in a drunken stupor. He continues to draw attention for his erratic behavior, but has resisted pressure to step down and is seeking re-election in October. Ford laughed off Kimmel's suggestion that he get help for his drinking problem.
"The apologies are over. I'm moving on. People are going to judge me on my proven track record. And that's why I'm down here. I want people to come to Toronto, see how good Toronto is," said Ford.
At one point in the show, Kimmel compared Ford to Los Angeles Mayor Eric Garcetti, showing photos of the two mayors meeting constituents. One photo showed Garcetti holding a baby and smiling, while another showed Ford holding a crying child.
In another segment, Kimmel played a series of videos depicting the mayor in a variety of embarrassing scenes. Ford was asked to comment on each video after they were played. He appeared embarrassed but laughed off some of Kimmel's comments.
One of the videos showed Ford ranting about wanting to kill someone. The mayor said he didn't know who he was talking about in the video. Another showed the mayor at a city council meeting in which he mimes a drunk driver. Ford laughed when Kimmel said he would want the mayor on his charades team.
Kimmel also showed a video of Ford throwing - not handing - candy canes to children during a Santa Claus parade. Kimmel pointed out that Ford tossed the candy as if "he was feeding birds."
"What's wrong with that?" the mayor asked. "That's what I do."
Back in Toronto on Tuesday, Ford said outside his office that he knew he "was going into the lion's den" and would face tough questions.
The Associated Press contributed to this report.