The wear fatigue of slewing bearings at the contact areas of raceways (AISI 4140 steel (AS)) and rollers (AISI 52100 steel) seriously reduces the service life of equipment. AS-SnAgCu-TiC composites (AS-SACT) were prepared by filling multi-solid lubricants into surface biomimetic textures of AS to improve the wear resistance. Tribological properties were tested using a block-on-ring tribometer. The materials of block and ring were AS and AISI 52100 steel, respectively. Compared with that of AS, coefficient of friction of AS-SACT was decreased by 67.93%, and wear height was reduced by 42.19%. Wear triggered the diffusion of SnAgCu from the bionic textures to worn surface. The hard phase of nano-TiC was wrapped by a cluster of multi-layer lubricants to form spherical particles, which not only converted sliding to rolling contact, but also repaired pits and furrows on worn surface. Hence, AS-SACT with self-repairing behavior had excellent properties of antifriction and wear resistance. •Tribological properties of AISI 4140 steel were improved by texture and SnAgCu–TiC. •Average COF of AS-SnAgCu-TiC was 67.93% lower than that of AS (AISI 4140 steel). •Wear defects were filled with solid lubricants to produce self-repairing behavior. •Spherical particles transformed the frictional mode from sliding to rolling. •Nano-TiC particles wrapped by SnAgCu can promote wear defects to be filled.