Ireland were struggling at 20 for three but recovered to make 176 all out with Harry Tector hitting 38 and Curtis Campher adding 35.
Scots opener Munsey hit five sixes and seven boundaries in his 25-ball innings to set the platform for victory.
Calum MacLeod made 36 as Scotland reached 178 for five with 13 balls to spare.
It was the first warm-up game for both sides and Scotland made an instant impact by quickly removing big-hitting openers Paul Stirling and Kevin O’Brien along with Captain Andrew Balbirnie.
Ireland’s middle-order came to the rescue with Tector, Campher and Neil Rock (32) ensuring the Scots would face a competitive target.
Safyaar Sharif took two for 27 while Hamza Tahir and Michael Leask both finished with two for33. Ireland starts their T20 World Cup campaign against the Netherlands on October 18 with Scotland taking on Bangladesh a day earlier.
Ireland: 176 in 20 overs (Tector 38, Campher 35, Sharif 2/27)
Scotland: 178/5 in 17.5 overs (Munsey 67, MacLeod 36, White 2/35) (BBC)