Frictional heating by the ion-neutral drift is calculated and its effect on the isobaric thermal instability is studied. Ambipolar drift heating of a one-dimensional self-gravitating magnetized molecular slab is used under the assumptions of quasi-magnetohydrostatic and local ionization equilibrium. We see that ambipolar drift heating is inversely proportional to density and its value in some regions of the slab can be significantly larger than the average heating rates of cosmic rays and turbulent motions. The results show that isobaric thermal instability can occur in some regions of the slab, and thus it may produce slab fragmentation and formation of astronomical unit scale condensations.