The friction behavior between soft and hard materials has long been a crucial research subject in diverse fields, such as artificial joints, human skin contact, and robotic grasping. This study combines theoretical analysis with experimental exploration. By analyzing the variation in friction force and the characteristics of the sliding traces of silicone rubber materials during the entire friction process, it aims to delve into the frictional characteristics of soft–hard material interfaces. The results show that the sliding behavior at the soft–hard interface occurs before the peak of static friction. Through the approximation of a frictional theoretical model, the relationship between the friction force and the relative sliding distance at the interface is verified. Moreover, a method for predicting the interface frictional contact state and the relative sliding distance at the interface based on the friction force–tangential displacement curve is proposed. This research enhances our understanding of the friction mechanism at soft–hard interfaces and offers both theoretical support and practical guidance for the development of fine tactile feedback and dexterous manipulation systems in robotic grasping.