The aim of this paper is to analyze the effect of the process parameters on the coefficient of friction (COF) in the single-point incremental forming process. This investigation may be useful for further FEM analyses where the tool-workpiece contact must be set appropriately to obtain adequate results. The friction was analyzed between a solid tungsten carbide ⌀8 hemispherical ended tool with a radius of 4 mm and a grade 2 pure titanium sheet. As a lubricant, 10W40 engine oil was used. The experiment was of a central composite design and 20 runs in random order were carried out. The influence of input factors, namely spindle speed, tool feed and incremental step depth, was analyzed for the COF response. Two type of equations founded in the literature have been acquired to calculate COF values. An investigation of COF analysis was done for initial tool contact, the first tool full depth contact and stabilized forming region. Additionally, single components of the horizontal force (X-axis and Y-axis) were taken into account. Analysis of variance shows that there is no correlation between the input factors and the COF responses. However, the mean model fitted to the results obtained allows for the prediction of the COF by using the vertical force component and only one horizontal force component. The resulting mean value of the COF between the tool and the workpiece equals 0.4 for Eq. (1) initial contact, stabilized forming: Eq. (1) 0.656 and Eq. (2) 0.469.