Finite element (FE) micro-models have been developed in order to determine contact, stress and strain conditions produced by a steel asperity sliding on the surface of a fibre-reinforced polymer composite. Two cases were studied, i.e. a parallel and an anti-parallel fibre orientation relative to the sliding direction. In order to get more realistic simulation results relating to the failure conditions in the composite structure, FE contact macro/micro-models were used, contrary to the so far widely applied anisotropic analytical or numerical macro-models. To model a "micro-environment" as part of a "macro-environment", the displacement coupling technique was introduced. The contact analysis operates on both the macro-and the micro-level, applying node-to-node contact elements. The contact results, especially the contact pressure distribution, can characterize the real fibre/matrix micro-system. Displacement and strain results lead to explanations of fibre related phenomena, matrix shear effects, and fibre/matrix debonding events. On the basis of the stress results, conclusions were drawn on the possible wear mechanisms of the fibre-reinforced polymer composite. For parallel fibre orientation, fibre/matrix debonding as a result of shear stresses at the interface, matrix shear type failure and fibre thinning are the dominant sliding wear mechanisms. If an anti-parallel fibre orientation is considered, matrix shear, tension/compression type fibre/matrix debonding and fibre thinning, associated with fibre cracking events, are the most dominant wear mechanisms. To study the wear mechanisms experimentally, diamond tip scratch tests were carried out, showing that the predicted failure events occur also in reality.