An instrument has been developed that allows in situ optical analysis and tribological measurements for contacts between solid bodies; an interferometric optical analysis can be used to measure and observe contact size, contact geometry, near contact topography, tribofilm formation, tribofilm motion, tribofilm thickness, wear debris formation, and wear debris morphology. The optical arrangement is in such a way that a 0th order interference fringe highlights the real contact area of contact, while near contact regions are height-mapped with higher order Newton's rings interference fringes. Images synchronized with force and position measurements allow for the potential to test and validate models for contact mechanics, adhesion, and sliding. The contact and friction measurement between a rough rubber sphere and a polished glass counterface were studied over a range of loads from 1 to 50 mN.