A friction drive actuator, comprising: a vibration member which is configured to be driven to vibrate by expansion and contraction of a piezoelectric displacement portion which is included in the vibration member and driven by a driving signal; a sliding member which is in contact with the vibration member and is driven by the vibration member in a first direction with respect to the vibration member; a pressing member which causes the vibration member and the sliding member to come into a pressure contact therebetween; and a control member which is provided on each of the vibration member and the sliding member at a contact portion therebetween for controlling a relative movement of the sliding member with respect to the vibration member in a direction perpendicular to the first direction when the vibration member and the sliding member are pressedly contacted with each other by the pressing member.