Based on a literature survey, this paper presents the implementation of analytical modeling approaches of the contact between a stator and a rotor in piezoelectric motors. These modeling approaches are validated by comparison to experimental results obtained on a specially designed piezoelectric motor. Two types of measurements are presented: the displacement of contact point, and the friction force. The second measurement is used to evaluate the friction coefficient and its dependence upon several parameters such as sliding velocity and pre-compressive force. Both the friction coefficient and the displacement of contact point are used as input in the modeling. The comparison of the predicted and measured no-load speed for different pre-compression levels shows a close agreement.