In this paper, a fundamental mechanism for creep-groan generation is investigated by adopting a simple yet effective caliper-slider experimental model. Contact condition, which is a function of three parameters, namely normal force, contact roughness, and material combination, is connected with the creep-groan phenomenon in terms of contact stiffness. Creep-groan generation is determined by analyzing the frequency characteristic of the generated vibration acceleration when the sliding commences due to a simultaneous application and release of force in the tangential and normal directions, respectively. As per the obtained results, creep-groan occurrence or absence in the employed experimental model may be classified into three regions based upon the value of the contact stiffness, i.e., occurrence, non-occurrence, and mixed regions. The results also indicate that creep-groan occurrence in this caliper-slider experimental model can be avoided by controlling the value of contact stiffness in an effective manner.