A test apparatus of metal’s dry friction characteristic was built to measure the dry friction hysteresis characteristic curve of metallic material specimens under given normal force. A corresponding MSC/MARC finite element model is developed to simulate the friction stick-slip hysteresis characteristic of contact dry friction for any prescribed quasistatic load cycle. Comparisons of test data and simulation data demonstrate the accuracy of the FEM model. The simulation result is consistent with the test and theory data which can help analyzing the material’s dry friction characteristic of real project and provide the reliable computation for the NVH simulation of engine.