Suppose $H$ is a subgroup of $G$ and let $X$ be the set of left cosets $xH$ of $H$ in $G$.
I have shown that the kernel of the action $g\cdot xH=gxH, $ $K$ is a normal subgroup in $G$ that is contained in $H$. My question is:
Under what conditions do we have $K=H$?
I have found that $\displaystyle K=\bigcap_{xH\in X} xHx^{-1}$ so need to determine when $\displaystyle H=\bigcap_{xH\in X} xHx^{-1}$
This happens if and only if $H$ is normal. Since $K$ is normal if $K = H$ then clearly $H$ is normal. Conversely, assume $H$ is normal. Then for any $h \in H$ we have $hxH = x(x^{-1}hx)H = xH$, where the last equality is because $H$ is normal so $x^{-1}hx \in H$. This proves that $H \subseteq K$. You've already shown $K \subseteq H$ so $K = H$.