Brothers of late Paul Walker, Caleb and Cody Walker will "fill in small gaps left in production", a statement on the film's Facebook page said. "Having them on set has made us all feel that Paul is with us, too," it added.
Walker, 40, died in a car crash in Santa Clarita, California, in November.
His friend Roger Rodas was driving and a police investigation found the Porsche was travelling up to 94mph when it went out of control.
Walker was on a break from filming when he died, and production was halted temporarily.
The release of the latest instalment in the hugely popular series of films was pushed backed by nine months until April 2015.
Walker played law enforcement officer Brian O'Conner in five of the six films about illegal street racing, heists and organised crime.
The actor had become an emblem of street racing and car culture as a result of the role.
Fast & Furious 7, which is directed by James Wan and stars Vin Diesel and Tyrese Gibson, has been adjusted to include the footage shot with Walker and to give his character some kind of send-off.
"It will allow the character of Brian O'Conner to live on and let us celebrate Paul in his most defining role," the statement said.
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