You’ll need to edit the torrc. Kali is based on Debian, so these instructions should work for you:
sudo nano /etc/tor/torrc
Remove the # character from lines ControlPort 9051 and CookieAuthentication 1 (line ~57)
Save Nano Command:
Ctrl+O
will save the modifications you’ve made to the file
Exit Nano Command:
Ctrl+X
will close nano
Restart tor
Add permission for yourself to read the auth cookie. With Debian Linux, the command is:
sudo usermod -a -G debian-tor [yourlinuxuser]
Logout/Login with your user to apply group changes
You can verify if your Tor setup is running correctly using:
echo ‘PROTOCOLINFO’ | nc 127.0.0.1 9051