Liverpool's vice-captain headed to Anfield Sports and Community Centre (ASCC) to meet with local over-50s at their regular Friday morning session.
Almost 60 participants - some in their 80s and 90s - joined Milner out on the pitch, before the group headed to ASCC’s cafe for a post-match cup of tea and a chat.
Milner said: "It’s been fantastic to come down to meet all the guys and have a game with them.
"Giving older players the chance to still be involved in football, keep fit and have a laugh with their mates is so important - so this is a great initiative.
"I've really enjoyed this morning, and I hope I’m still playing when I’m their age!"
Walking football is designed to encourage over 50s to engage in regular physical activity in a fun and social setting.
LFC club chaplain and Red Neighbours team member Bill Bygroves, said: "This has been a great experience for our local players - having the chance to share the pitch with one of our top, first-team players.
"A lot of our participants are over 80 years old, and they thoroughly enjoy coming along to the sessions each week. It’s amazing to see people from older generations getting back into football, keeping active and building social connections with their teammates."
For more information about walking football, and other activities and events organised by the LFC Red Neighbours team, visit https://www.liverpoolfc.com/news/community or follow @Red_Neighbours on Twitter.