The dynamic behavior of the transition between slipping and sticking motions of a mass-spring system with dry friction is studied numerically and experimentally. Three mathematical models of dry friction are incorporated in the forced oscillator’s equation of motion. The wavelet transform is used to analyze response signals for both high and low frequency contents. For the simulated dynamical response, the wavelet transform can efficiently depict the transition characteristics in the time/frequency domain. The signatures observed in wavelet contour plot are compared to experimental results to evaluate the mathematical friction models. The wavelet transform can also be used to detect the dynamics of the sensor. The low-frequency experimental friction behavior is somewhat like the Coulomb friction model and its smooth version.