Dynamic contact characteristics between hoisting rope and friction lining in the deep coal mine were analyzed in the present study. Dynamic rope tension and tension differences were obtained using Simulink simulation models. Evolutions of slip states and stress distributions along the groove bottom of friction lining during hoisting, and the effect of coefficient of friction on those evolutions, were explored employing finite element analyses. The results show that fluctuating rope tensions and tension differences during hoisting exhibit three stages. The wear failure is more likely to occur along contacting surfaces between the rope and friction lining. Contact arcs between the rope and friction lining consist of two frictional arcs with severe damage and a sticking arc with slight damage. Dynamic contact status during hoisting consists of a slip regime and a mixed regime. Larger tension difference results in larger relative slips, contact pressure and equivalent stress. Frictional arcs exhibit more serious wear due to higher stress levels as compared to the sticking arc. An increase of coefficient of friction reduces the possibility of gross slip and wear between the rope and friction lining.