An Optimol SRV oscillating friction and wear tester was performed to evaluate the friction and wear behavior of the commonly used fixation material in orthopaedics operation-NiTi shape memory alloy (SMA) paired with GCr15 steel under dry sliding and lubrication by double ester, silicon oil, liquid paraffin, distilled water, and an artificial joint trophic liquid. The morphologies of the worn surfaces of the NiTi alloy lubricated with different lubricant systems were observed using a scanning electron microscope, while the elemental compositions of the heat-treated and untreated NiTi alloy were determined using an energy dispersive X-ray analyzer. Moreover, the hardness of the original and worn surfaces of the heat-treated NiTi alloy was measured as well, and the phase transformation temperature of the NiTi alloy was determined using a differential scanning calorimeter. As the results, the shape memory phase transformation temperature of the heat-treated SMA was close to the human body temperature, which is important to the application of the SMA in biological medicine. However, the wear resistance of the SMA was decreased to some extent after the heat-treatment. Moreover, the friction-induced heat was beneficial to speeding the phase transformation from martensite to austenite of the NiTi alloy, which contributed to increasing the hardness and wear resistance of the SMA. In addition, liquid lubrication condition for GCr15/NiTi alloy contacts, the double ester as the lubricant was superior to the silicon oil, liquid paraffin, distilled water, and the artificial trophic liquid, in terms of the ability to reduce the friction and wear of the NiTi alloy sliding against GCr15 steel. In other words, the tested double ester could find promising application as the lubricant for the NiTi memory alloy, but the artificial trophic liquid was not suitable for the lubrication of the steel/ NiTi alloy pair owing to its corrosiveness to the steel.