In this work, friction stir processing (FSP) was used to successfully embed boron carbide (B4C) particles into an aluminum matrix (AA6061-T6). Four specimens of aluminum 6061 composite reinforced with 4%, 6%, 8%, and 10% volume fraction of B4C were manufactured. The effects of B4C particles volume fraction on microstructure, mechanical and wear properties are investigated. The microstructural investigations demonstrated that a rise in the volume % of reinforcement greatly decreased the matrix grain size. The manufactured AA6061-T6 loaded with B4C surface composites demonstrated homogeneous B4C particle dispersion, with no significant particle clustering in the stir zone. In addition, it was established that increasing the volume fraction of B4C particles promoted grain refinement, increased hardness, and tensile strength. X-ray diffraction (XRD) was used to identify the reinforcement dispersion. For AA6061-T6 with 10% B4C particles, a maximum hardness value of 163 HV was obtained in the stir zone. Maximum yield strength of 165 MPa and ultimate tensile strength of 220 MPa were attained by AA6061-T6 with 10% B4C particles, which is an improvement of 21% over the specimen FSP without reinforcement. The strengthening of the grain refining was attributed for the increase in hardness and strength. The ductility was reduced by the incorporation of more B4C particles. Comparing the surface composite loaded with B4C to unreinforced friction stir processing and AA6061-T6 as received, it demonstrated superior wear resistance.