Many lubricated systems experience boundary lubrication condition during operation. However, the friction and wear characteristics of boundary lubrication are not clearly understood. In this work the factors which affect the friction and wear between boundary lubricated metallic surfaces are investigated. Experiments were performed using a pin-on-disk type tester with pure aluminum, pure copper, and SM45C steel as the disk material and steel, stainless steel and bearing ball as the ball. The experimental conditions were determined according to the Taguchi experimental method. From the experimental results, the major factors that influence the friction and wear characteristics of boundary lubrication could be identified.