The machine joint surfaces are necessary to form the functions of the complex mechanical system. Because the macro or micro relative motions may appear in the machine joint surfaces, the vibration and friction phenomena will be excited, then the singularities, disturbances and faults of the mechanical system may be appeared when the machine equipments in the running process. These undesired phenomena will have adverse effect on the efficiency, precision, reliability and lifetime of the mechanical equipment. In order to ensure the functions and properties of the mechanical system, more attentions should be paid to mechanism of vibration and friction during the process of designing and manufacturing the modern machine. In this paper, machine joint surfaces are classified by different classification standards: the macro relative motions and micro contact styles between the joint surfaces. The theories and methods for researching vibration and friction mechanism are inducted and summarized and the view of non-linear should be advocated for the future research. The point of precisely quantifying for machine assembly accuracy design while considered the relevancies between the macro and micro-scale of mechanical system indicates that new directions and methods for studying vibration and friction mechanism in machine joint surfaces should be put forward.