The present study focuses on the nonlinear analysis of the dynamical behavior of layered structures, including interfacial friction in the presence of the stick-slip phenomenon and large deformation. To achieve a proper outlook for the two-layer structure's behavior, it is essential to precisely realize the mechanisms of motion. Taking the dry friction into account, coupled equations of the transversal and longitudinal large vibration of two-layers are derived and nondimensionalized. Furthermore, the free and forced vibration of the aforementioned system is investigated. From the results of the numerical simulation, it is observed that there exist quasi-periodic and stick–slip chaotic motions in the system. The results demonstrate that the single mode method usually utilized may lead to incorrect conclusions and, instead, the higher order mode method should be employed. A comparative study with ANSYS is developed to verify the accuracy of the proposed approach.