Abstract: In order to study the whole process of rigid straight rod toppling with consideration of friction, three kinds of motion processes of rigid straight rod toppling with different friction factors are analyzed by the theoretical method and the numerical calculation. The dynamic equation and its solution are obtained, as well as the expression of the displacement of the point where the rod touches the ground. The relation curve between the final displacement of the point where the rod touches the ground and the friction coefficient is obtained by the numerical calculation method, and the results are verified by experiments.