Friction stir lap welding (FSLW) raises the possibility of fabricating high-performance aluminum components at low cost and high efficiency. In this study, we mainly applied FSLW to fabricate multi-track 2024 aluminum alloy without using tool tilt angle, which is important for obtaining defect-free joint but significantly increases equipment cost. Firstly, systematic single-track FSLW experiments were conducted to attain appropriate processing parameters, and we found that defect-free single-track could also be obtained by the application of two-pass processing at a rotation speed of 1000 rpm and a traverse speed of 300 mm/min. Then, multi-track FSLW experiments were conducted and full density multi-track samples were fabricated at an overlapping rate of 20%. Finally, the microstructure and mechanical properties of the full density multi-track samples were investigated. The results indicated that ultrafine equiaxed grains with the grain diameter about 9.4 µm could be obtained in FSLW samples due to the dynamic recrystallization during FSLW, which leads to a yield strength of 117.2 MPa (17.55% higher than the rolled 2024-O alloy substrate) and an elongation rate of 31.05% (113.84% higher than the substrate).