However, on September 11, the vessel, which is on America's National Register of Historic Places, returned to firefighting.
The men who had purchased the boat had their crew sail from the Chelsea Piers, where it was docked, to the World Trade Centre.
Walter's daughter Margaret Griffin, who accompanied him on his trip from Greenwich, New York, to Stirling, said: "There is not much call for fireboats nowadays.
"When my father served there were 10 boats, but now there are only two.
"It was the first time the John J Harvey had been required in 30 years.
"The fire brigade needed the boat to give them waterside access."
Margaret described how the Trade Centre disaster has rocked the community where they live: "In Greenwich there are a lot of fatherless families as a result of September 11," she said.
"The repercussions of the disaster are extremely tragic."
Walter's fireboat is now back in Chelsea as a floating museum and tour boat.
He will take a trip on the vessel for the first time in 50 years this summer.
To mark Walter's visit and to commemorate his services to firefighting, Central Scotland Fire Brigade presented him with a quaich and a plaque bearing the brigade crest, a lapel badge and tie pin last Wednesday.
Walter was moved to tears when he heard how the brigade had collected £44,200 in donations for the New York Firefighters Widows and Orphans Fund.
He said: "You are so kind."
Walter has a special connection to Bannockburn as his late wife Meg (nee McIvor), who died in 1994, was from the town.
She emigrated to New York during the depression with her friend Mary Hughes, where she met Walter.
They married in 1942.
Walter's visit, his first in 32 years, was to attend the joint 40th wedding anniversary party of his relatives Jim and Margaret Lennon and Arthur and Veronica McIvor.
But he almost missed the party when he fell and bumped his head.
But displaying the bravery of a true firefighting veteran he told hospital staff: "You are not keeping me in.
"I've travelled more than 3000 miles to get here and I've got a party to go to."
