The nonlinear interaction of shear waves with a frictional interface are presented and modeled using simple Coulomb friction. Analytical and finite difference implementations are proposed with both in agreement and showing a unique trend in terms of the generated nonlinearity. A dimensionless parameter ξ is proposed to uniquely quantify the nonlinearity produced. The trends produced in the numerical study are then validated with good agreement experimentally. This is carried out loading an interface between two steel blocks and exciting this interface with different amplitude normal incidence shear waves. The experimental results are in good agreement with the numerical results, suggesting the simple friction model does a reasonable job of capturing the fundamental physics. The resulting approach offers a potential way to characterize a contacting interface; however, the difficulty in activating that interface may ultimately limit its applicability.