Create a file under $HOME/.dapr/components called kafka_bindings.yaml. And kafka is used for bindings implementation. Below are the contents of kafka_bindings.yaml.
The other way to include kafka_bindings.yaml is to create a components directory and create a file called kafka_bindings.yaml and add the below contents to the file. 
And then modify the dapr run command to include components directory path using "--components-path". 

apiVersion: dapr.io/v1alpha1
kind: Component
metadata:
  name: checkout
spec:
  type: bindings.kafka
  version: v1
  metadata:
  # Kafka broker connection setting
  - name: brokers
    value: localhost:9092
  # consumer configuration: topic and consumer group
  - name: topics
    value: sample
  - name: consumerGroup
    value: group1
  # publisher configuration: topic
  - name: publishTopic
    value: sample
  - name: authRequired
    value: "false"
    
Create a file called docker-compose-single-kafka.yml. Below are the contents of docker-compose-single-kafka.yml.

version: '2'
services:
  zookeeper:
    image: wurstmeister/zookeeper:latest
    ports:
      - "2181:2181"
  kafka:
    image: wurstmeister/kafka:latest
    ports:
      - "9092:9092"
    environment:
      KAFKA_ADVERTISED_HOST_NAME: 127.0.0.1
      KAFKA_CREATE_TOPICS: "sample:1:1"
      KAFKA_ZOOKEEPER_CONNECT: zookeeper:2181

To start kafka
docker-compose -f ../docker-compose-single-kafka.yml up -d


Java:

dapr run --app-id orderprocessing --app-port 6001 --dapr-http-port 3601 --dapr-grpc-port 60001 --components-path ../../components mvn spring-boot:run

dapr run --app-id checkout --app-port 6002 --dapr-http-port 3602 --dapr-grpc-port 60002 --components-path ../../components mvn spring-boot:run

Python:

dapr run --app-id orderprocessing --app-port 6001 --dapr-grpc-port 3601 --app-protocol grpc --components-path ../components python3 OrderProcessingService.py

dapr run --app-id checkout --app-port 6002--dapr-grpc-port 3602 --app-protocol grpc --components-path ../components python3 CheckoutService.py

GO:

dapr run --app-id orderprocessing --app-port 6001 --dapr-http-port 3601 --dapr-grpc-port 60001 --components-path ../../components go run OrderProcessingService.go

dapr run --app-id checkout --app-port 6002 --dapr-http-port 3602 --dapr-grpc-port 60002 --components-path ../../components go run CheckoutService.go

CSharp:

dapr run --app-id orderprocessing --app-port 6001 --dapr-http-port 3601 --dapr-grpc-port 60001 --app-ssl --components-path ../../components dotnet run

dapr run --app-id checkout --app-port 6002 --dapr-http-port 3602 --dapr-grpc-port 60002 --app-ssl --components-path ../../components dotnet run

Javascript:

dapr run --app-id orderprocessing --app-port 6001 --dapr-http-port 3601 --dapr-grpc-port 60001 --components-path ../../components npm start

dapr run --app-id checkout --app-port 6002 --dapr-http-port 3602 --dapr-grpc-port 60002 --components-path ../../components dotnet npm start