The main goal of the present contribution is to establish an energy consistent time integration procedure for multibody systems with friction. Based upon a rotationless formulation for multibody systems, we use the coordinate augmentation technique in order to implement frictional phenomena such as joint friction. Within this contribution we use the viscous friction assumption as a classical friction model incorporated in the joints. We start with a classical ad hoc model for damping and extend the formulation to multibody systems, dealing finally with an underactuated control problem of a three bar linkage with applied joint friction.