The Stribeck curve is an important means to demonstrate the frictional behavior of a lubricated interface during the entire transition from boundary and mixed to full-film lubrication. In the present study, a new test apparatus has been built that can operate under rolling–sliding conditions at a continuously variable speed in an extremely wide range, approximately from 0.00006 to 60 m/s, covering six orders of magnitude. Hence, a complete Stribeck curve can be measured to reveal its basic characteristics for lubricated counterformal contacts. The measured curves are compared with numerical simulation results obtained from an available unified mixed elastohydrodynamic lubrication (EHL) model that is also capable of handling cases during the entire transition. A modified empirical model for the limiting shear stress of lubricant is obtained, and a good agreement between the measured and calculated Stribeck curves is achieved for the tested base oils in all the three lubrication regimes, which thus well validates the simulation methods employed. Both the experimental and numerical results indicate that the Stribeck curves for counterformal contact interfaces behave differently from those for conformal contacts. When the rolling speed increases at a fixed slide-to-roll ratio, the friction continuously decreases even in the full-film lubrication regime due to the reduction of the lubricant limiting shear stress caused mainly by the rise of the surface flash temperature. In addition, the test results indicate that the boundary additives in a commodity lubricant may have considerable influence on the boundary lubrication friction but that on the friction in the mixed and full-film lubrication appears to be limited.