This paper presents the influence of applied load and relative humidity (RH) in the friction coefficient of high-density polyethylene (HDPE) pin on hot dip galvanized steel disc. The experimental results showed that friction coefficient is proportional to the applied load. The measured friction coefficient was affected by environment RH depending on applied load. For low applied load, the friction coefficient varies following humidity alteration of testing environment, i.e., increase in humidity increases the friction coefficient, while for high applied load, there was observed no variation on friction coefficient. The wear rate of HDPE pin in 10 and 20 N applied load range suggests changes in the wear regime, from mild to severe.