A steering column assembly has an outer jacket extending, an inner jacket is slideably disposed in the outer jacket for telescoping movement relative to the outer jacket, and a sleeve disposed between the inner and outer jackets. The sleeve exerts a predetermined frictional force on the inner jacket opposing the telescoping movement. A filler formed from a liquid thermosetting composition is disposed between the sleeve and the outer jacket for securing the sleeve to the outer jacket. Furthermore, a method of forming the steering column assembly includes disposing the inner jacket into the outer jacket and disposing the sleeve between the inner and outer jackets. The method further includes inserting the liquid thermosetting composition into the outer jacket between the outer jacket and the sleeve and curing the liquid thermosetting composition to form the filler.