This paper shows the possibility of performing Lap joint using the friction stir welding with $2mm^t$ aluminum alloy plate and the determination of tool-dimensions for FSW in milling machine. This research also is reported on obtaining the tensile-shear strength, 91.3 (MPa) and the energy absorption, 26.3 (J) for Lap jointed specimen. The optimal tool-dimensions and method for Lap joint using FSW is as follows; each diameter of shoulder and pin is $9phi(mm) and 3phi(mm)$, the length of pin is 3.6(mm), Pressing the shoulder of tool into original base metal is not reasonable.