An analysis is developed for the simulation of stick-slip friction between lubricated surfaces at low sliding velocity. The simulation shows the time-dependent motion and unsteady friction force. The simulation is based on a fundamental dynamic friction model which considers the hydrodynamic forces as well as the friction due to direct contact between the surface asperities. In addition, the Dahl effect which demonstrates presliding displacement is considered. The analysis considers a system of a motor driving a journal with inertia through a flexible shaft. The journal is supported by hydrodynamic journal bearing where slick-slip friction can be generated in the mixed friction region. This problem is equivalent to a closed-loop proportional control of the angular rotation of a rigid shaft. The stick-slip is simulated and the physical phenomena are elucidated.Presented as a Society of Tribologists and Lubrication Engineers paper at the ASME/STLE Tribology Conference in San Francisco, California, October 13–17, 1996