In soft tissue replacement, hydrophilic, flexible, and biocompatible materials are used to reduce wear and coefficient of friction. This study aims to develop and evaluate a solid/liquid triborheological system, polyvinyl alcohol (PVA)/hyaluronic acid (HA), to mimic conditions in human synovial joints. Hydrogel specimens prepared via the freeze–thawing technique from a 10% (w/v) PVA aqueous solution were cut into disc shapes (5 ± 0.5 mm thickness). Compression tests of PVA hydrogels presented a Young’s modulus of 2.26 ± 0.52 MPa. Friction tests were performed on a Discovery Hybrid Rheometer DHR-3 under physiological conditions using 4 mg/mL HA solution as lubricant at 37 °C. Contact force was applied between 1 and 20 N, highlighting a coefficient of friction change of 0.11 to 0.31 between lubricated and dry states at 3 N load (angular velocity: 40 rad/s). Thermal behavior was evaluated by differential scanning calorimetry (DSC) in the range of 25–250 °C (5 °C/min rate), showing an endothermic behavior with a melting temperature (Tm) around 231.15 °C. Scanning Electron Microscopy (SEM) tests showed a microporous network that enhanced water content absorption to 82.99 ± 1.5%. Hydrogel achieved solid/liquid lubrication, exhibiting a trapped lubricant pool that supported loads, keeping low coefficient of friction during lubricated tests. In dry tests, interstitial water evaporates continuously without countering sliding movement friction.