The objective of this work is to investigate the influence of contact pressure and sliding speed on the coefficient of friction and wear of an activated carbon-epoxy composite derived from palm kernel under dry sliding conditions. A wear mode map approach was employed to identify the transitions from mild to severe wear of the composite. The dry sliding test was executed by utilizing a ball-on-disc tribometer at different contact pressures and sliding speeds with a constant sliding distance and operating temperature. The results showed that, regardless of the sliding speed, the friction coefficient and wear rate of the composite increased drastically when a critical limit of contact pressure is exceeded. As for the sliding speed, both the friction coefficient and wear rate increased first and thereafter decreased at a higher speed of 500 rpm. A wear mode map is proposed to classify the boundary from mild to severe wear regimes. The predominant wear failures identified include micro-crack, fine grooves, debonding, delamination, debris, broken carbon, and fracture.