Plate-on-disc type sliding friction and wear test was conducted to investigate the friction and wear properties of mullite reinforced composite (M composite), and compared with glass fiber reinforced composite (GF composite). The friction and wear test revealed that M composite has good wear resistance under mild sliding conditions, but the wear rate gradually increases under severe sliding conditions. M composite exhibited higher friction coefficient than GF composite at room temperature and maintained the friction coefficient stably at higher temperatures. The composite film formed on counter material against M composite showed influences on the friction and wear properties under severe sliding conditions.