The higher-order interactions of complex systems, such as the brain, are captured by their simplicial complex structure and have a significant effect on dynamics. However, the existing dynamical models defined on simplicial complexes make the strong assumption that the dynamics resides exclusively on the nodes. Here we formulate the higher-order Kuramoto model which describes the interactions between oscillators placed not only on nodes but also on links, triangles, and so on. We show that higher-order Kuramoto dynamics can lead to an explosive synchronization transition by using an adaptive coupling dependent on the solenoidal and the irrotational component of the dynamics.