Rotary Friction Welding is successfully used for joining of stainless steel 304 and low alloy steel 4340 by varying three parameters namely rotational speed, friction pressure and friction time at three different levels. Fixed parameters are length and diameter of the specimen. Taguchi approach is used to design experimental layout. A total number of experiments conducted is nine. For each experiment, three specimens are made. In this study, it is found that for achieving a sufficient tensile strength on the joint-interface, the friction time should be held as short as possible, while the rotational speed and friction pressure should be as high as possible.