To understand the complexity of dense granular flows, we used three-dimensional (3D) numerical simulations which appears as complementary approaches to the experimental ones. Numerical simulations allow (i) to investigate the influence of parameters difficult to control experimentally and (ii) to measure quantities inacessible to experiments. In this paper we focus on numerical 3D rotating drums and shed light on the role of lateral friction on the rheology of dense granular systems. Our framework is the Non Smooth Contact Dynamics approach, powerful to perform accurate simulations of large systems of particles, essential to deal with simultaneous contacts. We point out the influence of lateral friction coefficient on the granular flow and compare the results to previous 2D simulations.