The deposition of new alloy to replace a worn or damaged surface layer is a common strategy for repairing or remanufacturing structural components. For high-performance aluminum alloys common in the automotive, aerospace, and defense industries, however, traditional fusion-based deposition methods can lead to solidification cracking, void formation, and loss of strength in the heat affected zone. Solid state methods, such as additive friction stir deposition (AFSD), mitigate these challenges by depositing material at temperatures below the melting point. In this work, a solid state volumetric repair was performed using AFSD of aluminum alloy 6061-T6 to fill grooves machined into the surface of a plate of 6061-T651. The groove-filling process is relevant to replacement of cracked or corroded material after removal by localized grinding. Three groove geometries were evaluated by means of metallographic inspection, tensile testing, and fatigue testing. For the process conditions and groove geometries used in this study, effective repairs were achieved to a depth of 3.1 – 3.5 mm. Below that depth, the interface between the substrate and AFSD filler exhibited poor bonding associated with insufficient shear deformation. The mechanical properties of the filler alloy, the depth of the heat affected zone, and areas for further optimization are discussed within the context of precipitation hardened aluminum alloys.