The effects of friction between powder and a mandrel on densification behavior of metal powder were investigated under cold isostatic pressing. The elastoplastic constitutive equations based on the yield function of Shima and Oyane were implemented into finite element program (ABAQUS) to simulate compaction responses of metal powders during cold isostatic pressing. The friction coefficients between powder and mandrels with different roughness were determined by comparing experimental data and finite element results. Density distributions in the powder compacts were also studied for different friction coefficients. Finite element results were compared with experimental data for pure iron powder under cold isostatic pressing.