In the context of a waste heat recovery application on a gasoline engine, tribological investigations have been mandatory in the design of a scroll expander. A new design has been proposed to reach higher temperature and investigations are made to ensure that the material of the parts in contact will provide good tribological performances, i.e. a low coefficient of friction and a low wear rate. This research will also prevent high mechanical losses in the machine and, therefore, increase its thermal efficiency. Some experiments have been conducted on six different materials for the tip seal of the expander and two materials for the counter face. Additionally, the experiments have been carried out for a dry and a steam-lubricated contact at several temperatures. This research does not aim to be an exhaustive tribological investigation but instead offers a first comparison between the different materials couples.