Friction materials were prepared based on a simple formulation with six ingredients (phenolic resin, aramid pulp, nano sodium titanate whisker, alumina, barite, molybdenum disulfide). Hardness, impact strength, friction coefficient, wear rate, and morphology of sliding surfaces were carefully examined to investigate the effect of the two different fibrous ingredients, i.e. aramid pulp and nano sodium titanate whisker, in the friction material on various physical and mechanical properties and friction properties. The results show that the Rockwell hardness of friction material increased with the increase of the content of aramid pulp in the formula. When the ratio of aramid pulp to sodium titanate whisker is 3:1, the maximum impact strength of the material reached 0.392 J/cm². The uniform mixing of two reinforcing fibers provided a basis for the formation of high cohesion friction film during the friction process. When the ratio was 0.75, the best synergistic effect was obtained. At this time the friction coefficient was stable between 0.38 and 0.45, and the wear rate was 5%.