As a US Air Force veteran, Sam Wilson was one of the test pilots for the EXO-7 Falcon flight, but after the death of his colleague Riley, he worked as an advisor to veterans in Washington, DC and I’m familiar with Steve Rogers here.
He helped Rogers and Natasha Romanoff when they discovered SHIELD was invaded by HYDRA and he once again put on his wings to join Rogers and Romanoff to prevent the Insight project. He helped Rogers find the location of the Winter Warrior when Rogers had to lead the Avengers against HYDRA.
He also accompanies Rogers when opposing the Sokovia Treaty and fighting the Iron Man faction. In the infinite battle, he once again joined the Avengers team against Thanos but ended up disappearing when he used the infinity glove to wipe out half of the universe.