Kiram said he was prompted to send the group to Sabah after the sultanate was left out of a framework agreement sealed in October between Manila and Filipino Muslim rebels, which paves the way for an autonomous area in the southern Philippines that is home to the Muslim minority of the largely-Christian nation.
The sultanate's spokesman, Abraham Idjirani, later said the sultan's brother Raja Muda Abimuddin Kiram, who led the group to Sabah, had told him via telephone that the party was preparing to stay.
"The objective is to reside now in that place permanently, considering the sultanate owns Sabah by rights of sovereignty," he told AFP.
Idjirani said there were about 400 followers of the sultanate in the area, including about 20 who were armed.
On Thursday Malaysian Home Minister Hishammuddin Hussein put the number at between 80 to 100 gunmen.
Idjirani said the group would not instigate violence but would resist if provoked.
"We recognise the capability of Malaysia. We don't have the arms and capacity but we have the historical truth," he said, adding that the group's "fate is to see the recognition they are entitled to... or they die defending their ancestral rights".
Idjirani said President Benigno Aquino's senior aides had been in contact with the sultan and were willing to deliver a letter to the Malaysian government on his behalf for negotiations.
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