The Fast and Furious star's remains were cremated and his ashes were interred at the Forest Lawn Memorial Park Cemetery in the Hollywood Hills.
The ceremony was non-denominational. Those in attendance included his father Paul Walker Sr., his mother Cheryl Walker, his brothers Caleb Walker and Cody Walker.
A second, larger gathering is being held for family and friends with no press or media allowed in.
Last Sunday, thousands gathered at the site where Walker and his friend Roger Rodas were killed Nov. 30 in a fiery car crash. An autopsy revealed that the actor died as a result of thermal injuries sustained during the crash. An investigation into the cause of the crash is ongoing.