The contact mechanics model between the stator and the slider of a standing-wave linear piezoelectric driver is established. On the basis of the momentum conservation law, the relation equation between the dynamic contact force and the preload in a period is obtained. Then, the normal contact and tangential friction forces are studied. Considering the gravity of the slider and friction from the guider, the dynamic equations of the slider are established under the start–stop phase, and the effects of the driver parameters on the start–stop characteristics are investigated. The contact models in the steady phase of the driver are derived, and a series of operational characteristics of the driver performance is simulated. Finally, a test is conducted and the analysis results of the validity of the contact model are presented. The contact model is important because it not only helps in predicting and evaluating the performance of the piezoelectric driver but also contributes to the design of these types of drivers.