Fresh from lifting the Emirates FA Cup, with a 1-0 success over Chelsea in the capital back in May, City headed back to Wembley three months later to contest the Community Shield against Pep Guardiola's fearsome Premier League champions Manchester City.
With attendances continuing to climb in the wake of COVID-19 restrictions being eased, the Blue Army were out in force at the national stadium, hoping to see their side lift the Club's second Community Shield. After a tense 89 minutes, Kelechi Iheanacho's late penalty saw their wishes come true.
For Walsh, who captained Leicester in the 1990s, enjoying two play-off final victories and two League Cup wins, it brought back all those emotions. The former centre-back was alongside another icon in Foxes folklore, Wes Morgan, for the occasion - one he enjoyed immensely.
"It means so much to be at those occasions, after the FA Cup win," Walsh said this week. "I think we'd only won it once before. I was actually there with Wes that day. It was such an honour to be in a box that day. I had my family there and we were able to enjoy it.
"It was an incredible day really. I was working for Wembley as an ambassador of Leicester City Football Club that day. I was there with Wes and it was so nice to be sat next to him watching the game.
"We went down into the building and went on stage to say a few words and it was one of those days where you take lots of photographs with your family and friends. Leicester fans always create something at Wembley.
"It was still early days after everything got lifted after COVID, but every time Leicester City go to Wembley, it's like they own it. That goes back to my day and earlier. In that '90s era, we played in seven games at Wembley, cup finals or play-off finals.
"It was an incredible era for the Club and it really set the tone for winning things. I always signed for the Club with the notion of winning something, lifting cups and trophies. The current generation have taken that onto a different level with the Premier League, the FA Cup and the Community Shield."
Although Jamie Vardy struck the post for the Foxes, it was a game of few chances in the Wembley sunshine, until the very last seconds. A penalty was awarded City's way and up stepped Iheanacho to fire the ball into the back of net. It was a moment which sparked jubilant celebrations in the City end.
"It was a tight game," Walsh added. "I know Man City didn't play all of their strongest players, but it doesn't matter who's put in front of you. You've got to go out there and beat them and Man City always put out a talented team. There was a couple of chances, I remember Vardy hit the post in the first half.
"I had a feeling we were going to win it. We felt solid in the game and looked composed. There was quality in that performance. It was a brilliant plan which Brendan Rodgers put together. I thought he played it well, his tactics were right, and he was the man lifting silverware again for Leicester City.
"Iheanacho pops goals in when we need him and that was one of them. Moments like that are precious to Leicester City. We've seen the other side of football. I remember the fans celebrating it and moments like that are special. You can imagine stepping up to take that penalty with the pressure and everything.
"Iheanacho, under pressure, has been great for Leicester and, when he's needed, he's performed for us."
Walsh was able to sit back and enjoy the sight of City lifting another trophy at full-time and, although the season did not pan out entirely as Leicester will have wished, the ex-Foxes defender is now excited for what 2022/23 has in store.
"To pull off another big win in a final at Wembley, it doesn't come any better," he continued. "It brought back so many memories for me from my playing days. Even just watching the play-offs last weekend, it's unreal to see Wembley like that.
"It was a terrific win for Leicester City and to start the season with more silverware is a massive boost for the Club. It went on to become a difficult season with injuries and COVID, but it finished well and there's a lot of hope for us to have a really good year next season."