The steady state relative motion of two masses with dry (Coulomb) friction contact is investigated. The bodies are assumed to have the same mass and stiffness and are subjected to harmonic excitation. By means of a combined analytical—numerical procedure, results are obtained for arbitrary values of Coulomb friction, excitation frequency, and natural frequencies of the bodies. For certain values of these parameters, multiple lockups per cycle are possible. In this respect, the problem investigated here is a natural extension of the one considered by Den Hartog, who in obtaining his closed form solution assumed a maximum of two lockups per cycle.