Two-dimensional dynamic friction models at a lubricated line contact, operating in boundary and mixed lubrication regimes, are developed. The friction coefficient is shown to be a function of the sliding velocity and the instantaneous separation of the sliding bodies, normal to the sliding direction. The models are based on unsteady friction experiments carried out under constant normal loads and under time-varying sliding velocities. The normal motions at the sliding contact were detected indirectly by contact resistance measurements. The contact resistance is related to the theoretical central film thickness for smooth surfaces. An advanced system identification technique (Minimum Model Error) is implemented to identify the most important terms in a number of nonlinear friction models. Two friction models are then nondimensionalized and parameterized. The validity and range of application of the models are then tested, by comparing them with experiments and with selected models proposed by other researchers.