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The differential equations for planar impacts reduce to an algebraic form, and can be easily solved. For three dimensional impacts with friction, there is no closed-form solution, and numerical integration is required due to the swerve behavior of tangential impulse during collisions. The dynamic governing equations in the impact process are built up in impulse space based on the Lagrangian equation in this paper. The coefficient of restitution defined by Poisson is used as the condition of impact termination. A valid numerical method for solving three-dimensional frictional impact of multi-rigid body system is established. The singular cases of tangential movement in sticking point are especially noticed and analyzed. Several examples are present to reveal the different kinds of tangential movement modes varied with the normal impulse during collision.