The family said he died Thursday, his 60th wedding anniversary.
Norwalk was elected Wake County Commissioner in 2008 and served until 2011. He stepped down from the position because of his declining health.
He also served on the Wake County Planning Board, the Cary Economic Development Commission, and helped found the organization Wake Up Wake County.
He leaves behind his wife, two daughters, three grandchildren, and one great grandson.
Private funeral services will be held Sunday in Kansas City.