Relative motion between surfaces of mechanical parts causes surface wear and damage. The degradation to the surfaces has been monitored using vibration characteristics as well as acoustic emissions generated during the relative surface movements. In particular, acoustic emission signals were found to be sensitive to some of the microscopic processes occurring at the frictional interface. In this study, friction between two surfaces was monitored experimentally under controlled conditions. Relative velocity, contact pressure, and surface roughness values were varied in the experiments. Friction related acoustic emission signals were recorded and analyzed to understand the relationship between the signals generated and the physical processes giving rise to these signals. Information related to the stick-slip movements during cyclic motion, in the experiments, was observed from the signals. Features of the waveforms were found to reveal the conditions existing at the friction interface. In particular, the changes in the surface roughness and contact pressure were readily observed from the acoustic emission signals.