Principal factors that cause a decrease in the efficiency at startup and in low-speed operation of swash-plate type axial piston motors include behavior of sliding parts between i) slipper and swash-plate, ii) piston and cylinder bore and iii) valve plate and cylinder. Especially, the sliding part between ii) piston and cylinder bore has an influence on the behaviors of the slipper and valve plate.Several studies has been made on the sliding characteristics between piston and cylinder bore in swash-plate type axial piston pumps and motors. However, in those studies, each part of the motor and pump was assumed to be rigid. Therefore, this study has been made to clarify the friction characteristics between the piston and cylinder bore at startup and low-speed operation in swash-plate type axial piston motors, regarding the elasticity of the piston and cylinder. In the simulation analysis, using the finite element method, the stress distribution and deformation of the piston and cylinder, the static frictional force between the piston and cylinder bore with a change in supply pressure, piston tube thickness and static friction coefficient were obtained. As the verification of the simulation analysis and examination in low-speed operation, the static frictional force and the dynamic frictional force between the piston and cylinder bore with a change in the supply pressure and piston tube thickness were measured.