  Static and dynamic frictional phenomena at the interface with random
impurities are investigated in a two-chain model with incommensurate structure.
Static frictional force is caused by the impurity pinning and/or by the pinning
due to the regular potential, which is responsible for the breaking of
analyticity transition for impurity-free cases. It is confirmed that the static
frictional force is always finite in the presence of impurities, in contrast to
the impurity-free system. The nature of impurity pinning is discussed in
connection with that in density waves. The kinetic frictional force of a steady
sliding state is also investigated numerically. The relationship between the
sliding velocity dependence of the kinetic frictional force and the strength of
impurity potential is discussed.
