The sliding friction and wear properties of mineral fiber reinforced composite(MF) and glass fiber reinforced composites(GF) are investigated to clarify their field of use and the role of each fiber in friction material. Friction and wear test reveals that GF composite has better wear resistance even though with low friction coefficient, comparing with MF composite. Glass fiber strengthen effectively the matrix and may absorb friction energy to convert it into the fracture energy of them, as well as its lubricative role. However, mineral fiber in MF composite is too small to strengthen the matrix. Then MF composite are easily plowed and worn out by asperity on counter material. Friction coefficient of MF composite is higher friction coefficient than that of GF composite and varied widely with test.