For the friction stir welding (FSW) of AZ91 magnesium alloy, low tool rotational speeds and increased tool linear speeds (ratio 3.2) along with a larger diameter shoulder and pin are utilized. The research focused on the influence of welding forces and the characterization of the welds by light microscopy, scanning electron microscopy with an electron backscatter diffraction system (SEM-EBSD), hardness distribution across the joint cross-section, joint tensile strength, and SEM examination of fractured specimens after tensile tests. The micromechanical static tensile tests performed are unique and reveal the material strength distribution within the joint. A numerical model of the temperature distribution and material flow during joining is also presented. The work demonstrates that a good-quality joint can be obtained. A fine microstructure is formed at the weld face, containing larger precipitates of the intermetallic phase, while the weld nugget comprises larger grains. The numerical simulation correlates well with experimental measurements. On the advancing side, the hardness (approx. 60 HV0.1) and strength (approx. 150 MPa) of the weld are lower, which is also related to the lower plasticity of this region of the joint. The strength (approx. 300 MPa) in some micro-areas is significantly higher than that of the overall joint (204 MPa). This is primarily attributable to the macroscopic sample also containing material in the as-cast state, i.e., unwrought. The microprobe therefore includes less potential crack nucleation mechanisms, such as microsegregations and microshrinkage.