Mr Kalolo, who had been driving buses for 29 years, said he was driving through the central city about 1pm on the day of the incident, after starting his shift at 5.30am.
Before driving any of his routes, he made a number of checks to the vehicle including to its tyres, headlights, tail lights and brakes.
He was travelling between 20km/h and 25km/h along Willis St when he spotted something out of the corner of his eye.
He hit the brakes and turned the steering wheel to the right, towards the centre of the road.
"I felt it hit something," he said in a statement that was read by his lawyer Michael Bale.
"All this happened so fast."
He told Coroner Evans that everyday he would see pedestrians walk across roads dangerously.
"Some just walk without looking."
At the end of his evidence, Mr Kalolo turned to Ms Green's family, who were in the public gallery, and made a heartfelt apology.
"I remember her in my prayers," he told them.
The family tearfully said he had no need to apologise.
Ms Green's brother, Aaron, said the family had never harboured ill-feeling towards him.
"We understand how hard it is."
When Mr Kalolo left the witness stand, the group embraced him.
During the adjournment, Mr Green said the family felt it was important they tell Mr Kalolo how they felt.
Earlier in the hearing, Sergeant Peter Sowter, officer in charge of the serious crash unit in Wellington, said Mr Kalolo could not have avoided Ms Green and the crash was not his fault.
"The indications are that Venessa was immediately off the footpath and was immediately struck."
The driver was travelling within the road's 30km/h speed limit, he said.
Ms Green was the first pedestrian to die since the opening of the priority bus lanes in central Wellington in 2010, which has led to a rise in the number of people hit by buses.
Accidents between pedestrians and vehicles along the so-called Golden Mile bus route in central Wellington have led Wellington City Council to introduce more safety measures.
The inquest continues.
Accidents along the Golden Mile bus route
• February 2014: A woman was hit by a Go Wellington bus as she was crossing Manners St, near the bottom of Cuba Mall. She was taken to hospital in a serious condition.
• March 2013: A cyclist is hit by a bus on Manners Mall.
• July 2012: NZ Bus director Tim Brown suffered serious injuries after he was hit by one of his company's own Go Wellington buses on Willis Street.
• August 2012: A woman in her 40s was knocked down by a bus on the corner of Hunter and Featherston streets.
• Nov 2011: A 25-year-old woman was wearing earphones and looking at her cellphone when she stepped into the path of the Go Wellington bus in Manners Street.
• June 2011: Venessa Green, 40, was out jogging when she was struck by a bus on Willis St in the central city, after she stepped off the footpath, and onto the roa
