A rotary vacuum pump, for instance a vane pump, has at least one circumferential groove (6) between facing side surfaces of the rotor (2) and of the rotor guide (3) for receiving a lubricating and sealing fluid. The circumferential groove (6) is a partial annular groove, which has an angular extension of less than 360° and has at least one interruption enabling creating a hydrodynamic fluid bearing in a region opposite a discharge region of the pump (1; 101; 121; 201), over the whole axial extension of the facing surfaces. A method of lubricating a rotary vacuum pump is also provided.