This paper focuses on an experimental investigation of the mechanical behavior of bolted joints. A new test apparatus to measure friction hysteresis was designed to provide a reliable experimental database for the calibration of contact models. This apparatus uses a piezoelectric actuator to provide the contact interfaces with stable oscillatory relative displacement. The friction force and the bolt preload were continuously measured during the test, using a load cell and a force washer, respectively. The relative motion between the interfaces was measured using a single laser vibrometer. The influence of the bolt preload and excitation amplitude on friction hysteresis was investigated. A numerical model was developed to extract the tangential contact stiffness from the measured data.