We present here a combined experimental and theoretical determination of single-walled carbon nanotube interaction with a graphene surface. The nanotubes are grown on an atomic force microscope (AFM) tip, and we proceed to retract-approach, as well as perform frequency-modulation experiments on a graphene surface, to determine the adhesive energy. In the meantime, we have calculated the adhesive energy of various nanotubes on a graphene surface by means of the LCAO-S 2 + vdW formalism, to take into account weak interactions in graphitic materials. Experimental and theoretical results are in good agreement, which allows us to deduce the contact length of the tube on the surface. These results open promising perspectives in near-field surface spectroscopy, combining carbon nanotubes and AFM measurements.