Friction and wear characteristics of short fiber reinforced and particulate filled composites were investigated experimentally. Two kinds of fiber composites, chopped graphite fiber reinforced PAI(polyamide-imide) and glass fiber reinforced PAI, and a particulate composite, TiO$_{2}$ powder filled PAI, were selected for the friction and wear test since these are important engineering materials based on a new high temperature engineering plastic. All the specimens were cut into proper size for cylinder-on-plate type wear test. Frictional forces were measured by employing a load transducer and wear rates were calculated by measuring weight loss during wear test. The experimental results are reported in this paper and carefully discussed to explain the friction and wear behavior qualitatively. The frictional behavior is interpreted by considering four basic friction components which are believed to the genesis of friction and the wear behavior is explained by applying delamination theory of wear.