This paper studied the solution of impulsive dynamics of multi-rigid-body,systems with friction.By introducing a new dimensional time parameter,the first-order momentum-impulse differential equations were obtained,and the discussion over infinitesimal impulsive interval was transformed into a piece-wise study on the finite region of impulse,so the solution of impulsive dynamics of spatial discrete system with friction was obtained,i,e.,the dynamic response after the impact can be obtained according to the initial conditions before the impact.