diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index c698b07a4..9261eb807 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -6172,7 +6172,13 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
 							pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
 						}
 						pt.m_normalForce = srcPt.getAppliedImpulse() / m_data->m_physicsDeltaTime;
-						//                                    pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1;
+						pt.m_linearFrictionForce1 = srcPt.m_appliedImpulseLateral1 / m_data->m_physicsDeltaTime;
+						pt.m_linearFrictionForce2 = srcPt.m_appliedImpulseLateral2 / m_data->m_physicsDeltaTime;
+						for (int j = 0; j < 3; j++)
+						{
+							pt.m_linearFrictionDirection1[j] = srcPt.m_lateralFrictionDir1[j];
+							pt.m_linearFrictionDirection2[j] = srcPt.m_lateralFrictionDir2[j];
+						}
 						m_data->m_cachedContactPoints.push_back(pt);
 					}
 				}
@@ -6397,7 +6403,13 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
 									pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
 								}
 								pt.m_normalForce = srcPt.getAppliedImpulse() / m_deltaTime;
-								//                                    pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1;
+								pt.m_linearFrictionForce1 = srcPt.m_appliedImpulseLateral1 / m_deltaTime;
+								pt.m_linearFrictionForce2 = srcPt.m_appliedImpulseLateral2 / m_deltaTime;
+								for (int j = 0; j < 3; j++)
+								{
+									pt.m_linearFrictionDirection1[j] = srcPt.m_lateralFrictionDir1[j];
+									pt.m_linearFrictionDirection2[j] = srcPt.m_lateralFrictionDir2[j];
+								}
 								m_cachedContactPoints.push_back(pt);
 							}
 							return 1;
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index cde1bd41b..e2c27ede1 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -572,13 +572,10 @@ struct b3ContactPointData
 
 	double m_normalForce;
 
-	//todo: expose the friction forces as well
-	//    double m_linearFrictionDirection0[3];
-	//    double m_linearFrictionForce0;
-	//    double m_linearFrictionDirection1[3];
-	//    double m_linearFrictionForce1;
-	//    double m_angularFrictionDirection[3];
-	//    double m_angularFrictionForce;
+	double m_linearFrictionForce1;
+	double m_linearFrictionForce2;
+	double m_linearFrictionDirection1[3];
+	double m_linearFrictionDirection2[3];
 };
 
 enum
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 86c870a6a..713d79cdd 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5754,6 +5754,10 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint
 	 8		double m_contactDistance;//negative number is penetration, positive
 	 is distance.
 	 9		double m_normalForce;
+	 10     double m_linearFrictionForce1;
+	 11     double double m_linearFrictionDirection1[3];
+	 12     double m_linearFrictionForce2;
+	 13     double double m_linearFrictionDirection2[3];
 	 */
 
 	int i;
@@ -5761,7 +5765,7 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint
 	PyObject* pyResultList = PyTuple_New(contactPointPtr->m_numContactPoints);
 	for (i = 0; i < contactPointPtr->m_numContactPoints; i++)
 	{
-		PyObject* contactObList = PyTuple_New(10);  // see above 10 fields
+		PyObject* contactObList = PyTuple_New(14);  // see above 10 fields
 		PyObject* item;
 		item =
 			PyInt_FromLong(contactPointPtr->m_contactPointData[i].m_contactFlags);
@@ -5832,6 +5836,44 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint
 			contactPointPtr->m_contactPointData[i].m_normalForce);
 		PyTuple_SetItem(contactObList, 9, item);
 
+		item = PyFloat_FromDouble(
+			contactPointPtr->m_contactPointData[i].m_linearFrictionForce1);
+		PyTuple_SetItem(contactObList, 10, item);
+
+		{
+			PyObject* posAObj = PyTuple_New(3);
+
+			item = PyFloat_FromDouble(
+				contactPointPtr->m_contactPointData[i].m_linearFrictionDirection1[0]);
+			PyTuple_SetItem(posAObj, 0, item);
+			item = PyFloat_FromDouble(
+				contactPointPtr->m_contactPointData[i].m_linearFrictionDirection1[1]);
+			PyTuple_SetItem(posAObj, 1, item);
+			item = PyFloat_FromDouble(
+				contactPointPtr->m_contactPointData[i].m_linearFrictionDirection1[2]);
+			PyTuple_SetItem(posAObj, 2, item);
+			PyTuple_SetItem(contactObList, 11, posAObj);
+		}
+
+		item = PyFloat_FromDouble(
+			contactPointPtr->m_contactPointData[i].m_linearFrictionForce2);
+		PyTuple_SetItem(contactObList, 12, item);
+
+		{
+			PyObject* posAObj = PyTuple_New(3);
+
+			item = PyFloat_FromDouble(
+				contactPointPtr->m_contactPointData[i].m_linearFrictionDirection2[0]);
+			PyTuple_SetItem(posAObj, 0, item);
+			item = PyFloat_FromDouble(
+				contactPointPtr->m_contactPointData[i].m_linearFrictionDirection2[1]);
+			PyTuple_SetItem(posAObj, 1, item);
+			item = PyFloat_FromDouble(
+				contactPointPtr->m_contactPointData[i].m_linearFrictionDirection2[2]);
+			PyTuple_SetItem(posAObj, 2, item);
+			PyTuple_SetItem(contactObList, 13, posAObj);
+		}
+
 		PyTuple_SetItem(pyResultList, i, contactObList);
 	}
 	return pyResultList;