As a branch of Utilization of vibration, vibration friction is a type of the most valued applicable technology developed during the later part of the 20th century and still in rapid development now. Since the technology is closely associated with industrial and agricultural production, can create huge social and economical benefits for our society and provide excellent service for human beings, it becomes a necessary mechanism in human production and life. The theory of the vibrating machines has been developed and used widely in this field. In this paper, nonlinear dynamic characteristics of vibration friction system based on vibration pile driver were investigated. According to dynamics theory, the motion equation of vibration friction system was established. For further study of vibration friction mechanism and its application on vibrating machines, numerical simulation of vibration pile-soil system was made. Chaos was found in the process of motion. The conclusion of our research is that vibration can decrease rub and wears between vibrating body and materials and it is very important to prolong the working life of machines and their parts.