They're the same. 'Kidding' is a familiar term for 'joking'. There are various expressions using 'kidding' :
'You're not kidding ?' - 'you're not joking ?'
'Just kidding !' - 'just joking !'
'Kidding' is only used in speaking casually with someone that you know well.
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'Kidding' is more informal than 'joking'. It also sometimes involves teasing another person.
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