Most precision positioning mechanisms and tracking systems contain instrument ball bearings that operate at ultra-low-speeds. Successful operation of these highly sensitive systems largely depends upon the ability to predict their bearing friction behavior. Until recently, very little research has been performed to understand the ultra-low-speed friction in coated bearings. Herein lies the scope of this paper: to develop a realistic finite element model which determines fundamental tribological friction relationships in coated bearings which are directly applicable to enhancing the control of precision systems.A brief review of the general friction response of bearings operating at ultra-low-speeds and the principles by which thin solid films reduce friction is given. As all of the work presented in this paper exclusively utilizes molybdenum disulfide as a solid lubricant film, the crystallographic structure, material properties and attributes of MoS 2 are discussed. A two-dimensional finite element model was developed to realistically characterize the friction experienced by a rolling element (i.e. a cylinder) confined between two parallel plates (representing bearing races). Experimental tests of a similar nature but with ball bearings were performed by the authors in a specially designed apparatus that allowed speeds as low as 0.001 deg s - 1 . Friction force results are presented for coated surfaces under several normal loads per unit length with steel and ceramic rolling elements. Using the results, general trends for the frictional behavior of coated bearing surfaces are established.