Friction stir welding (FSW) is a solid state joining method patented in 1991 by The Welding Institute (TWI). It is widely used for joining light metals such as Al and Mg alloys. Foreign railway vehicle manufacturing companies have been applying FSW to car body welding, but domestic companies are in the beginning of feasibility study. Therefore, lots of experimental and analytical study is needed. In this study, three-dimensional finite element modeling of the friction stir welding of two Al6061-T6 plates was carried out. And temperature field and residual stresses were obtained and compared to experimental results in the literature. It is found the analytic thermal field is in a good agreement with the experimental results, but there are some differences between numerical and experimental residual stresses.