•Bulk NiTip/6061Al were prepared by FSP via a multi-hole particle presetting mode.•NiTip were homogeneously distributed in Al matrix without interfacial products.•The composite had a phase transformation behavior similar to that of the NiTip.•T6-treatment strengthened the composite without discernible interfacial reaction.•The aging or T6 treated composites had higher strengths than the BM. Friction stir processing (FSP) was used to prepare NiTip reinforced 6061Al bulk composites with the aim to avoid deleterious Al–NiTi interface reaction occurred in cast and powder metallurgy processes. NiTip were homogeneously distributed in the Al matrix without interfacial reaction. The intrinsic characteristic of a reversible thermoelastic phase transformation of the NiTip was observed in the composites. The as-FSP composites showed lower tensile strengths and higher elongation than the as-received 6061Al–T651, and the strengths increased greatly after both aging and T6 heat treatments without interfacial products being detected. The results show that FSP is an effective way to produce NiTip/Al composites with good shape memory effect and mechanical properties.