This study presents a direct numerical simulation of vibrations generated by friction when rough surfaces slide against each other. The model involves rubbing the rough surface of a light metallic block on the rough surface of a suspended thin plate with a very low internal dissipation. The block slides at a constant speed V ranging from 3 to 500 mm/s, while gravitational loading ensures normal contact. Both contact surfaces present Gaussian roughness with 17 µm RMS height and an 80 µm correlation length. Mechanical interactions between asperities of the surfaces during sliding induce vibrations in the plate. The evolution of the vibrational level Lv as a function of the sliding speed V is quantified by RMS vibrational velocity. The results show two distinct dynamical regimes. Below 120 mm/s, we found that the vibrational level in the plate follows the scaling law Lv ∝ V^{1/4} , corresponding to a creeping contact regime in which continuous contact between surfaces is maintained. Beyond the transitional sliding speed of 120 mm/s, the flying regime is observed, which is characterized by intermittent loss of contact. In this regime, the vibrational level follows the law Lv ∝ V^{1/10}.