The relationship between cutaneous sensation of friction and skin dynamic deformation is not investigated enough. We conducted observations of stick-slip phenomena using a high-speed camera for representing friction sensation, which could be delivered by the proposed vibratory stimulation method. We confirmed the relationships of stick-slip vibration frequencies with normal forces and hand velocities. We also confirmed the relationships of normal force with kinematic friction coefficients and the spring coefficient of the stick-slip model. The parameters of the stick-slip model were identified based on the observations. Finally, friction display using vibratory stimulation based on the identified stick-slip model showed improvements in representing realistic friction sensation.