A friction stir welding method for welding steel sheets together includes a heating device disposed ahead of a rotating tool in an advancing direction that preheats an unwelded portion before the welding thereof by the rotating tool and at the time of preheating, the surface temperature distribution in a direction perpendicular to the advancing direction in a position at which the welding by the rotating tool is initiated is set such that given that TAc1 is the Ac1 point of a steel sheet, the maximum temperature (TU) thereof is 0.6×TAc1