We propose an adaptive nonlinear control algorithm for compensation of the stick-slip friction in a dynamic system. The friction force and mass of the system are estimated and compensated by adaptive control law. Especially, as the nonlinear control input in a small tracking error zone is enlarged by the nonlinear function, the steady state error is significantly reduced. The proposed algorithm is a direct adaptive control method based on the Laypunov stability theory, and its convergence is guaranteed under the bounded noise or torque disturbance. We verified the performance of the proposed algorithm by computer simulation on one-DOF mechanical system with friction.