The number and strength of mechanical connections of cells to their local environment can be indicative of their migration and invasion potential. Gaining direct access to the mechanical properties of individual connections and bringing them into a relationship with the state of disease, however, is a formidable task. Here, we present a method to directly sense focal adhesions and cell-cell contacts with a force sensor to quantify the lateral forces of their anchoring points. We found local lateral forces of 1.0-1.5 nN for focal adhesions and slightly higher values at the interfaces between cells where cell-cell contacts are located. Interestingly, a modified surface layer was observed exhibiting considerably reduced tip friction directly next to the area of a retracting cell edge on the substrate. We expect that this technique can improve the understanding of the relationship between mechanical properties of cell connections and the pathological state of cells in the future.