Friction can be called as resistance to the relative motion between different contacting surfaces. It is a highly complex phenomenon, which occurs in almost all mechanical systems. The paper discusses various numerical studies on different friction models found in the literature. A comprehensive study on different friction models on the dynamics simulation of a multibody system is shown in the paper. To perform a comparison between friction models, they are divided into two groups: Static and dynamic. From the first model proposed by Coulomb to the recent advances by Brown and McPhee, the paper gives more insight into the major improvements in the field of friction. These different models are applied on benchmark problems with continuous contacts, including rolling contact, and later compared based on parameters like accuracy and efficiency. The results are represented through Force-time, velocity-time, and position-time graphs. Although some of the models show different localized effects, most of them present similar tendencies in terms of the resulting friction force. This study shows the effect of different parameters on resulting friction force value. It also examines the model on computational parameters and quantifies the effects for the selection of the appropriate friction model.