The classical Prandtl–Tomlinson model is the most famous and efficient method to describe the stick–slip phenomenon and the resulting friction between a slider and a corrugated substrate. It is widely used in all studies of frictional physics and notably in nanotribology. However, it considers a rigid or undeformable substrate and therefore is hardly applicable for investigating the physics of soft matter and in particular biophysics. For this reason, we introduce here a modified model that is capable of taking into consideration a soft or deformable substrate. It is realized by a sequence of elastically bound quadratic energy wells, which represent the corrugated substrate. We study the quasi-static behavior of the system through the equilibrium statistical mechanics. We thus determine the static friction and the deformation of the substrate as a function of temperature and substrate stiffness. The results are of interest for the study of cell motion in biophysics and for haptic and tactile systems in microtechnology.