diff --git a/src/jaxsim/parsers/descriptions/joint.py b/src/jaxsim/parsers/descriptions/joint.py
index f67cf7298..128c2094b 100644
--- a/src/jaxsim/parsers/descriptions/joint.py
+++ b/src/jaxsim/parsers/descriptions/joint.py
@@ -66,6 +66,9 @@ class JointDescription:
 
     index: int = 0
 
+    friction_static: float = 0.0
+    friction_viscous: float = 0.0
+
     position_limit: Tuple[float, float] = (0.0, 0.0)
     initial_position: Union[float, npt.NDArray] = 0.0
 
diff --git a/src/jaxsim/parsers/sdf/parser.py b/src/jaxsim/parsers/sdf/parser.py
index a2b87d356..92f01d3af 100644
--- a/src/jaxsim/parsers/sdf/parser.py
+++ b/src/jaxsim/parsers/sdf/parser.py
@@ -184,6 +184,16 @@ def extract_data_from_sdf(
                 if j.axis is not None and j.axis.limit is not None
                 else np.finfo(float).max,
             ),
+            friction_static=j.axis.dynamics.friction
+            if j.axis is not None
+            and j.axis.dynamics is not None
+            and j.axis.dynamics.friction is not None
+            else 0.0,
+            friction_viscous=j.axis.dynamics.damping
+            if j.axis is not None
+            and j.axis.dynamics is not None
+            and j.axis.dynamics.friction is not None
+            else 0.0,
         )
         for j in sdf_tree.model.joints
         if j.type in {"revolute", "prismatic", "fixed"}
diff --git a/src/jaxsim/physics/model/physics_model.py b/src/jaxsim/physics/model/physics_model.py
index 0de2d65db..4be78eeb0 100644
--- a/src/jaxsim/physics/model/physics_model.py
+++ b/src/jaxsim/physics/model/physics_model.py
@@ -44,6 +44,9 @@ class PhysicsModel(JaxsimDataclass):
     )
     _link_inertias_dict: Dict[int, jtp.Matrix] = dataclasses.field(default_factory=dict)
 
+    _joint_friction_static: Dict[int, float] = dataclasses.field(default_factory=dict)
+    _joint_friction_viscous: Dict[int, float] = dataclasses.field(default_factory=dict)
+
     def __post_init__(self):
 
         if self.initial_state is None:
@@ -90,6 +93,15 @@ def build_from(
             joint.index: joint.jtype for joint in model_description.joints
         }
 
+        # Dicts from the joint index to the static and viscous friction.
+        # Note: the joint index is equal to its child link index.
+        joint_friction_static = {
+            joint.index: joint.friction_static for joint in model_description.joints
+        }
+        joint_friction_viscous = {
+            joint.index: joint.friction_viscous for joint in model_description.joints
+        }
+
         # Transform between model's root and model's base link
         # (this is just the pose of the base link in the SDF description)
         base_link = model_description.links_dict[model_description.link_names()[0]]
@@ -146,6 +158,8 @@ def build_from(
             _jtype_dict=joint_types_dict,
             _tree_transforms_dict=tree_transforms_dict,
             _link_inertias_dict=link_spatial_inertias_dict,
+            _joint_friction_static=joint_friction_static,
+            _joint_friction_viscous=joint_friction_viscous,
             gravity=jnp.hstack([gravity.squeeze(), np.zeros(3)]),
             is_floating_base=True,
             gc=GroundContact.build_from(model_description=model_description),
diff --git a/src/jaxsim/simulation/ode.py b/src/jaxsim/simulation/ode.py
index 6c9b1bcb9..3cf8c24fc 100644
--- a/src/jaxsim/simulation/ode.py
+++ b/src/jaxsim/simulation/ode.py
@@ -105,6 +105,20 @@ def dx_dt(
             terrain=terrain,
         )
 
+    # ==============
+    # Joint friction
+    # ==============
+
+    # Static and viscous joint friction parameters
+    kc = jnp.array(list(physics_model._joint_friction_static.values()))
+    kv = jnp.array(list(physics_model._joint_friction_viscous.values()))
+
+    # Compute the joint friction torque
+    tau_friction = -(
+        jnp.diag(kc) @ jnp.sign(ode_state.physics_model.joint_positions)
+        + jnp.diag(kv) @ ode_state.physics_model.joint_velocities
+    )
+
     # ========================
     # Compute forward dynamics
     # ========================
@@ -112,15 +126,8 @@ def dx_dt(
     # Compute the total forces applied to the bodies
     total_forces = ode_input.physics_model.f_ext + contact_forces_links
 
-    # Compute the mechanical joint torques (real torque sent to the joint) by
-    # subtracting the optional joint friction
-    # TODO: add support of coulomb/viscous parameters in parsers and PhysicsModel
-    kp_friction = jnp.array([0.0] * physics_model.dofs())
-    kd_friction = jnp.array([0.0] * physics_model.dofs())
-    tau = ode_input.physics_model.tau - (
-        jnp.diag(kp_friction) @ jnp.sign(ode_state.physics_model.joint_positions)
-        + jnp.diag(kd_friction) @ ode_state.physics_model.joint_velocities
-    )
+    # Compute the joint torques to actuate
+    tau = ode_input.physics_model.tau + tau_friction
 
     W_a_WB, qdd = algos.aba.aba(
         model=physics_model,