Modeling of friction force has been a challenging task in mechanical engineering. Traditional way, such as mathematical modeling approaches, was found quite difficult to achieve satisfactory performances due to some immanent nonlinearity and uncertainties in systems. This paper aims to develop fuzzy modeling techniques to characterize the friction dynamics. The proposed fuzzy modeling approach has two folds, that is, extraction of fuzzy rules using data mining techniques; setup of static model based on the fuzzy rules. The results obtained demonstrate that our proposed method in this paper has good potential in many mechanical systems with unknown nonlinear friction.