An analytical-numerical nonlinear model to investigate temperature fields and thermal stresses in a pad and a disk for a single braking with a constant deceleration has been proposed. For this purpose, the boundary-value heat conduction problem for a tribosystem strip-semi-space has been formulated, which takes into account the temperature dependence of the thermophysical properties of materials. The solution to this problem has been obtained by a partial linearization through the Kirchhoff substitution, and next with a subsequent use of the method of linearizing parameters. Knowing the distribution of temperature fields in the elements of a friction pair, the thermal stresses have been established within the theory of thermal bending of plates. In this case, the temperature dependence of the Young's modulus, Poisson's ratio, and linear thermal expansion of the pad and disk materials have been additionally taken into account. The numerical analysis has been performed for a friction pair consisting of a titanium alloy pad and a steel disk.