The Neȋmark-Sacker bifurcation, or Hopf bifurcation for maps, is a well-known bifurcation for smooth dynamical systems. At a Neȋmark-Sacker bifurcation a periodic orbit loses stability and, except for certain so-called strong resonances, an invariant torus is born; the dynamics on the torus can be either quasi-periodic or phase locked, which is organized by Arnol d tongues in parameter space. Inside the Arnol d tongues phase-locked periodic orbits exist that disappear in saddle-node bifurcations on the tongue boundaries. In this paper we investigate whether a piecewisesmooth system with sliding regions may exhibit an equivalent of the Neȋmark-Sacker bifurcation. The vector field defining such a system changes from one region in phase space to the next and the dividing so-called switching surface contains a sliding region if the vector fields on both sides point towards the switching surface. The existence of a sliding region has a superstabilizing effect on periodic orbits interacting with it. In particular, the associated Poincaré map is non-invertible. We consider the grazing-sliding bifurcation at which a periodic orbit becomes tangent to the sliding region. We provide conditions under which the grazing-sliding bifurcation can be thought of as a Neȋmark-Sacker bifurcation. We give a normal form of the Poincaré map derived at the grazing-sliding bifurcation and show that the resonances are again organized in Arnol d tongues. The associated periodic orbits typically bifurcate in border-collision bifurcations that can lead to dynamics that is more complicated than simple quasi-periodic motion. Interestingly, the Arnol d tongues of piecewise-smooth systems look like strings of connected sausages and the tongues close at double border-collision points. Since in most models of physical systems non-smoothness is a simplifying approximation, we relate our results to regularized systems. As one expects, the phase-locked solutions deform into smooth orbits that, in a neighborhood of the Neȋmark-Sacker bifurcation, lie on a smooth torus. The deformation of the Arnol d tongues is more complicated; in contrast to the standard scenario, we find several coexisting pairs of periodic orbits near the points where the Arnol d tongues close in the piecewisesmooth system. Nevertheless, the unfolding near the double border-collision points is also predicted as a typical scenario for nondegenerate smooth systems.