This paper investigated the effect of variable normal load on the fretting fatigue mechanism. A kinetics-based Q- P curve analysis method was proposed to assist testing system design and experiment result analysis. Based on this method, a biaxial fretting fatigue testing system was designed. Experimental and numerical investigation was carried out to discuss the effect of biaxial loading phase difference (the phase difference between bulk load and cyclic normal load) and stiffness ratio (the stiffness ratio between pad fixture and flat specimen) on the fretting fatigue mechanism. Based on the critical plane approach and proposed Q- P curves analysis method, it is found that the fretting status is partial slip regime under small stiffness ratio conditions. The stress/strain which is influenced by phase difference is the main factor of fretting fatigue damage in this condition. Furthermore, the mean stress of the normal load on the critical plane is compressive stress. It directly influences the fatigue damage under partial slip regime. With the increase of stiffness ratio and phase difference (from 0° to 90°), the fretting status changes from partial slip regime to gross slip regime, which means that the influence of wear increases. Wear inhibits the initiation of fatigue cracks, which has a positive influence on fretting fatigue life. As a result, the fretting failure mode gradually changes from fatigue to wear.