There are a few episodes with both Kaito and Aoko in them:
Magic Kaito:
Kid the Phantom Thief (this is a Kaitou Kid special)
Detective Conan:
EP 76: Conan vs. Kaitou Kid (1 Hour Special)
EP 219: The Gathering of the Great Detectives! Kudou Shinichi vs. Kaitou Kid (2 Hour Special)
OVA 4: Conan, Kid, and the Crystal Mother