The ten-year-old West Park First School pupil has the severe and debilitating Duchenne muscular dystrophy, a rare muscle wasting disease that affects one in 3,500 boys.
Last year, he went into a wheelchair full time, making football, his passion, impossible.
Now he plays wheelchair football at Angmering every other Tuesday.
Josh’s ‘Sporting Wish’ was made possible by the charity Sports Connections Foundation.
His mum Gemma, of Canada Close, Worthing, said: “The huge grin did not leave Josh’s face until he fell asleep in the back of the limo at around midnight last Wednesday.
“It was a brilliant day, particularly because it has boosted Josh’s confidence.
“When we got to Wembley the FA said they do not normally allow electric wheelchairs on the pitches and asked if he could be pushed out.
“Josh said ‘no, this is my chair and this is what I would like to go out in,’ and I was so proud of him.
“As a result of this condition he needs help toileting and dressing so has had to lose his dignity along the way.
“But he has a voice and there is nothing worng with his brain, thoughts or feelings.
“He was really excited about the whole day and took it all in his stride rather than getting nervous.
“His favourite player is Frank Lampard and he got to see him run onto the pitch which was great.”
Josh said: “The day was really cool and I was really excited before we went onto the pitch.
“I saw lots of players that I recognised and I felt really happy.”
Richard Philp, co-founder of the charity, said: “Joshua is a delightful ten-year-old whose incredible bravery and courage should be an inspiration to all of us.
“For our charity to be able to grant him his sporting wish, is a real privilege for us.”