A braking system consisting of brake discs and friction plates is studied. The kinetic model is established based on the Stribeck friction model. The impact of the initial velocity, brake pressure, damping and stiffness on braking stability is studied by numerical simulation. Then, methods to improve braking stability are proposed. The results show that the vibration amplitude increases with increasing initial velocity, but less time is needed for the system to reach stability. The vibration amplitude decreases with increasing braking pressure. Vibration amplitude can be reduced by appropriately increasing the pressure. The greater the damping, the faster the system reaches stability. The greater the stiffness, the slower the system reaches stability. The vibration amplitude decreases with increasing stiffness before the system reaches a steady state.