Developers often seek solutions for their programming problems by retrieving existing questions on technical Q&A sites such as Stack Overflow. In many cases, they fail to find relevant questions due to the knowledge gap between the questions and the queries or feel it hard to choose the desired questions from the returned results due to the lack of explanations about the relevance. In this paper, we propose KGXQR, a knowledge graph based explainable question retrieval approach for programming tasks. It uses BERT-based sentence similarity to retrieve candidate Stack Overflow questions that are relevant to a given query. To bridge the knowledge gap and enhance the performance of question retrieval, it constructs a software development related concept knowledge graph and trains a question relevance prediction model to re-rank the candidate questions. The model is trained based on a combined sentence representation of BERT-based sentence embedding and graph-based concept embedding. To help understand the relevance of the returned Stack Overflow questions, KGXQR further generates explanations based on the association paths between the concepts involved in the query and the Stack Overflow questions. The evaluation shows that KGXQR outperforms the baselines in terms of accuracy, recall, MRR, and MAP and the generated explanations help the users to find the desired questions faster and more accurately.