As the cameras rolled, Cody was seen sharing a tender embrace with actress Jordana Brewster — who portrays his sibling's wife — as they shared a family moment with their on-screen son on a Malibu beach.
Paul Walker's brother Cody filmed poignant scenes with Jordana Brewster on the Fast & Furious 7 set this week
The scenes appear to reflect the film-makers' decision to give the upcoming movie a happy ending, and retire Paul's character Brian O'Conner rather than kill him off.
Certainly the actors seemed in high spirits as they shot the beach scenes, larking around with their young co-star, and holding him up in the air.
Cody Walker (pictured) and his brother Caleb have stepped in to film final scenes for their late sibling
It was Jordana who paid a heartfelt tribute to Paul at the MTV Movie Awards last month.
"This past November, tragedy struck when Paul Walker's life shockingly ended," she said. "The immense outpouring of grief around the world was a reflection of the kind of man Paul was."
"He was so, so special. I was lucky enough to work with him over the last 15 years and witness the generosity of his heart every day I was with him. He was humble, he thought about others. Whether you knew Paul for five minutes or were a close friend, he made you feel like the most important person in the world."
Jordana Brewster paid a heartfelt tribute to Paul Walker at the MTV Movie Awards
Producers announced in April the decision to bring in Paul's brothers Cody and Caleb to help them complete Fast & Furious 7, noting that while the actor had finished filming his dramatic scenes, there were still some action sequences to be shot.
"We had to take time to grieve Paul, the brother we love and lost, and to figure out if we should move on with our film," producers said in a statement posted on the film's Facebook page. "We came together and all felt the only choice was to continue. We believe our fans want that, and we believe Paul would want that too.
Paul Walker was tragically killed in a car accident on 30 November, 2013
"We have resumed shooting," the statement added, "and now welcome Paul's brothers, Caleb and Cody, into our Fast family. Caleb and Cody are helping us complete some remaining action for their brother and fill in small gaps left in production. Having them on set has made us all feel that Paul is with us too."