Despite the fact that self-organization during friction has received relatively little attention from tribologists so far, it has the potential for the creation of self-healing and self-lubricating materials, which are important for green or environment-friendly tribology. The principles of the thermodynamics of irreversible processes and of the nonlinear theory of dynamical systems are used to investigate the formation of spatial and temporal structures during friction. The transition to the self-organized state with low friction and wear occurs through destabilization of steady-state (stationary) sliding. The criterion for destabilization is formulated and several examples are discussed: the formation of a protective film, microtopography evolution and slip waves. The pattern formation may involve self-organized criticality and reaction–diffusion systems. A special self-healing mechanism may be embedded into the material by coupling the corresponding required forces. The analysis provides the structure–property relationship, which can be applied for the design optimization of composite self-lubricating and self-healing materials for various ecologically friendly applications and green tribology.