A two-degree-of-freedom out-of-plane model with contact stiffness is presented to describe dynamical interaction between the pad and disc of a disc brake system. It is assumed that the out-of-plane motion of the system depends on the friction force acting along the in-plane direction. Dynamic friction coefficient is modelled as a function of both in-plane relative velocity and out-of-plane normal force. When the friction coefficient depends only on the relative velocity, the contact stiffness has the role of negative stiffness. The results of stability analysis show that the stiffness of both pad and disc is equally important. Complex eigen value analysis is conducted for the case that the friction coefficient is also dependent on the normal force. The results further verify the importance of the stiffness. It has also been found that increasing the gradient of friction coefficient with respect to the normal force makes the system more unstable.