Friction and wear characteristics of phenolic resin-based friction materials reinforced with aramid pulp and potassium titanate were investigated using a pad-on-disk type friction tester. Friction characteristics such as friction stability, thermal stability, and wear rate varied according to the type of phenolic resins and the relative amount of aramid pulp and potassium titanate. The modified novolac resin-based friction materials showed better heat resistance and friction stability than those with the unmodified(straight) novolac resin. Compared with friction materials filled with potassium titanate or aramid pulp only, the friction materials reinforced with both aramid pulp and potassium titanate showed good friction stability and wear resistance. Increment of aramid pulp from 10 to 20 vol.% however, showed little difference in friction stability.