We present a Wide-field ASKAP L-Band Legacy All-sky Blind surveY (WALLABY) study of the nearby (v(sys) =915kms(-1)) spiral galaxy IC5201 using the Australian Square Kilometre Array Pathfinder (ASKAP). IC5201 is a blue, barred spiral galaxy that follows the known scaling relations between stellar mass, SFR, Hi mass, and diameter. We create a four-beam mosaicked Hi image cube from 175h of observations made with a 12-antenna sub-array. The root mean square noise level of the cube is 1.7 mJy beam(-1) per channel, equivalent to a column density of =1.4x10(20) cm(-2) over 25kms(-1). We report nine extragalactic Hi detections - five new Hi detections including the first velocity measurements for two galaxies. These sources are IC5201, three dwarf satellite galaxies, two galaxies, and a tidal feature belonging to the NGC7232/3 triplet and two potential infalling galaxies to the triplet. There is evidence of a previous tidal interaction between IC5201 and the irregular satellite AM2220-460. A close fly-by is likely responsible for the asymmetric optical morphology of IC5201 and warping its disc, resulting in the irregular morphology of AM2220-460. We quantify the Hi kinematics of IC5201, presenting its rotation curve as well as showing that the warp starts at 14kpc along the major axis, increasing as a function of radius with a maximum difference in position angle of 20 degrees. There is no evidence of stripped Hi, triggered or quenched star formation in the system as measured using DECam optical and GALEX UV photometry.