A system for determining a hydraulic seal coefficient of friction of a hydraulic cylinder includes a force sensor to provide a force signal indicative of a force of the cylinder. A controller is configured to receive a plurality of first force signals at a first load and determine a first friction force and receive a plurality of second force signals at a second load and determine a second friction force. A hydraulic seal coefficient of friction is determined based at least in part upon the first friction force and the second friction force. A method is also disclosed.