The friction that exists between two surfaces in contact, when there is no relative motion between them is called static friction. For e.g., we can say when one object is simply resting on another one, it is said to be static.
Only when the relative motion starts, the sliding friction starts to act. It acts on both surfaces in contact with equal magnitude and in opposite directions. For e.g., when a box is being made to move or slide over the ground from one place to another, then we can say sliding friction is acting over there between the box and the ground.
When an object rolls over another object then we can say it is rolling motion.