In abrasive flow machining (AFM), material is abraded by active abrasive particles powered by solid-liquid contact between them and the abrasive medium. This contact characteristic is a key and unfortunately it is investigated scarcely.In this work, a soft-contact model was firstly proposed. Soft-contact parameters including protrusion ratio and covering inclination angle were then defined to characterize soft-contact characteristics. Finally, the effect of medium pressure and particle diameter on soft-contact parameters was studied by full factorial design. Results showed that average scratch depth of single active abrasive particle increases with increasing particle diameter and medium pressure. In addition, active abrasive particles are actually deeply wrapped to a large proportion by abrasive medium, and the descriptive protrusion ratio decreases with increasing medium pressure and particle diameter. Moreover, medium pressure offers tangential and normal force for active abrasive particle through a covering inclination angle, and the angle increases with increasing medium pressure and particle diameter. It provides guidance for further improvement of prediction accuracy of material removal in AFM process.