Do you know what a Normal force is? Newton's 3rd law = equal but opposite reaction and stuff like that.
Anyway, in your physics problems, any kind of contact force (like a book on a shelf) will have 2 forces constantly working on it, gravity, and the normal. gravity is the force that the book acts on the shelf, and the normal is the reactive force of the shelf acting on the book. Friction in most of your physics problems will be based on this normal force, and it is proportional by some constant, mu.
example: pushing a book on shelf in x dir
net forces in y dir:
-mg + N = 0 (book not moving)
net forces in x dir:
-f = ma (force needed to move book)
f = mu*N
play with those equations to solve for force (ma)
More in-depth problems involve friction in fluid flow, heat transfer, and noise losses. Basically all friction problems involve some transfer of energy from one state (kinetic) to another (heat, sound, work, etc...)