Markov State Modeling has recently emerged as a key technique for analyzing rare events in thermal equilibrium molecular simulations and finding metastable states. Here we export this technique to the study of friction, where strongly non-equilibrium events are induced by an external force. The approach is benchmarked on the well-studied Frenkel-Kontorova model, where we demonstrate the unprejudiced identification of the minimal basis microscopic states necessary for describing sliding, stick-slip and dissipation. The steps necessary for the application to realistic frictional systems are highlighted.PACS numbers: 68.35. Af, 46.55.+d, 02.50.Ga Despite the relevance of friction between solids from the macroscale to the nanoscale, its physical description still needs theoretical basis and understanding. Even the simplest, classical atomistic sliding problem has too many degrees of freedom, and there is so far no method for the unprejudiced identification of a few dynamical collective variables suitable for a mesoscopic description of fundamental sliding events such as stick-slip [1]. In the field of equilibrium biomolecular simulations, where computational scientists often meet similar problems, powerful tools have been developed in the last decade, aimed at identifying the relevant metastable conformations, the reactions paths, and the rates associated to transition events between them. In particular, Markov State Models [2-5] (MSMs) have emerged as a key technique, with clear theoretical foundations and great flexibility. In that approach, the dynamical trajectory in phase space of a large collection of molecular entities is projected onto a much smaller space defined by a discrete set of states that are deemed typical, and the dynamics is reduced to Markovian jumps between these states. In most cases so far MSMs were applied to systems at equilibrium, where a stationary measure is defined and the Markov description is natural. In the physics of friction we deal with strongly nonequilibrium dynamics, even in steady state sliding. Application of MSMs to nonequilibrium problems is still in its infancy, with apparently only one instance, related to periodic driving [6].Here we show how the MSM framework can be extended to the study of nanofriction dynamics. To demonstrate that concretely, we choose one of the simplest tribological models, the one-dimensional Frenkel-Kontorova (FK) model [7] in its atomic stick-slip regime [8,9]. The MSM construction leads to the identification of a handful of natural variables which describe the steady-state dynamics of friction in this model.Starting from the set of configurations obtained with a simulation of steady-state sliding, the first step of the construction is to define a metric in the high dimensional phase space of the original model, then used to identify a small number of microstates, by means of a recently proposed clustering algorithm [10]. The statistics of transitions between configurations is shown to be compatible with a description as a Markov process betwee...