Graphene nanoplatelets (GNP) and thermoplastic polyurethane (TPU) have been often used as filler and matrix, respectively, to produce composites. In this work, TPU/GNP composites were prepared via a melt blending method. The mechanical properties and frictional properties of TPU/GNP composites were investigated. Because the GNP is very expensive, we investigated to use graphite as the filler, to use PP-g-MAH as the compatibilizer and examined the characteristics of the prepared composites. Frictional properties and mechanical properties of GNP/TPU composites remarkably improve when adding PP-g-MAH as the compatibilizer. Tensile strength of composite containing 10wt % of GNP and 10wt% PP-g-MAH was measured as 25.5MPa. When the graphite was used to replace for GNP, the frictional properties of composites decreased, but the mechanical properties improved.