Fretting fatigue tests of the extruded AZ61 magnesium alloy with the same contact material under low and high humidity were carried out to investigate basic fretting fatigue characteristics and effect of humidity on fretting fatigue behavior. Influence of contact material was also studied by using JIS S45C carbon steel contact material. Degradation of fatigue strength due to fretting was much more significant than that due to corrosion under high humidity condition. Therefore, no effect of humidity on fretting fatigue strength was found. Reduction rate of fatigue strength due to fretting for the magnesium alloy was between those of aluminum alloys and titanium alloys. Tangential force coefficient of the magnesium alloy was rather low compared to other materials such as steels, aluminum alloys and titanium alloys. Fretting fatigue strength with the S45C contact material was inferior compared to that with the same contact material. This is mainly due to higher tangential force in AZ61/S45C contact. Fretting fatigue cracks at the edge of fretting contact region were observed to nucleate in the very early stage of fatigue life, similar to other structural materials.