What version of KDE are you running? Version 4.x have panels that can be made to appear where you describe them. I have XFCE on my system as well, have never seen an XFCE panel suddenly appear in KDE.
If you can make it happen, use Ksnapshot, take a picture of it, and post it. Hard to know for sure from your description if this is a XFCE panel or a KDE panel.
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