A subloading-friction model is formulated to describe the smooth transient variation from static friction to kinetic friction, the recovery to static friction after the sliding velocity decreases, and the accumulation of sliding displacement under the cyclic loading of contact stress. In the past relevant studies, however, the model formulation used for simulations is limited to the hypoelastic-based plasticity framework, and the validation of the model is limited to simulations of the test data for metal-to-metal friction. In this study, the formulation of the subloading-friction model based on a hyperelastic-based plasticity framework is adopted. In the fields of civil, geotechnical, agricultural engineering, and terramechanics, the interaction between soils and metals is critical, as reflected in construction and agricultural machinery, foundation piles, and retaining walls. The validity of the model for describing the friction between various sands and metals is verified by simulations of the experimental data under monotonic and cyclic loadings.