The dynamic friction-velocity relationship in the slip stage of stick-slip vibration was investigated with a pin-on-flat apparatus. A reasonable relationship was derived from the measured displacement and acceleration of the sliding element, using a computing technique which provided smooth, reliable curves. It was found, from an examination of the effect of data smoothing on computed friction characteristics, that the moving average method can be recommended. Variation of normal displacement of the sliding body during the slip period was examined together with tangential displacement and electrical contact resistance. The friction-velocity relationship was well explained by an assumption that the instantaneous friction variation results from the change in real area of contact resulting from normal displacement occuring in an elastic contact.