We review the present state of understanding of solid friction at low velocities and for systems with negligibly small wear effects. We first analyze in detail the behavior of friction at interfaces between macroscopic hard rough solids, whose main dynamical features are well described by the Rice - Ruina rate and state-dependent constitutive law. We show that it results from two combined effects: ( i) the threshold rheology of nanometer-thick junctions jammed under confinement into a soft glassy structure and (ii) the geometric aging, i. e. slow growth of the real area of contact via asperity creep interrupted by sliding. Closer analysis leads to identifying a second aging-rejuvenation process, at work within the junctions themselves. We compare the effects of structural aging at such multicontact, very highly confined, interfaces with those met under different confinement levels, namely boundary lubricated contacts and extended adhesive interfaces involving soft materials ( hydrogels, elastomers). This leads us to propose a classification of frictional junctions in terms of the relative importance of jamming and adsorption-induced metastability.