What can you comment on the objects in contact for them to experience frictional force?
irrespective of whether the objects are solid, liquid or gaseous
It is irrespective of whether the objects are solid, liquid or gaseous as friction is nothing but the force between the molecules in contact with each other. Friction between solids is observed when we rub our palms. Liquid friction can be observed when we pour grease on the floor, it doesn't flow that well. And gaseous friction can be observed in the case of meteorite, that catches fire coming in contact with air.