A friction heating incremental forming (FHIF) is proposed, which does not require external heating. By means of orthogonal experimental, finite element analysis and CATIA reverse engineering methods, the forming characteristics of magnesium alloy AZ31B FHIF are studied, such as forming limit angle, dimensional accuracy, thickness distribution, equivalent stress and equivalent strain at different forming stages. The results show that: For the FHIF, the forming limit angle can be up to 76°, and the most obvious way to increase the forming limit angle is to increase the spindle speed. In the FHIF, due to the limitations of the experimental conditions, it will be different from the ideal model. The bending phenomenon first occurs in the early stage of forming, which makes the upper corner part the worst accuracy, and the lower corner part obvious defects. Compared with the theoretically stable thickness, the actual part sidewall is thinned by 11%. The simulation successfully predicts and observes the thickness change and stress-strain change trend of the entire FHIF.