A physically-modulated friction stylus system and method for physically modulating friction between a styli tip and a surface of a computing device to emulate the “feel” of different types of writing instruments writing on different types of surfaces (such as pen on paper or a paintbrush on canvas). The actual friction between the stylus and the surface is modulated to produce the “feel.” The friction is physically modulated “on the fly” meaning that friction can be modulated while the stylus tip is in contact with the surface and while the stylus is moving. The friction is modulated dependent on a location of the stylus on the surface and the posture and orientation of the stylus. In addition, the friction can be modulated based on a direction and a velocity that the stylus tip is moving across the surface. Audio may also be used to improve the emulation experience.