Linear rolling guideway (LRG) is an important part of the precision machine tool, which affects the machining accuracy of the whole machine tool. In this paper, based on the fundamental characteristic parameters obtained from experiments and mechanical impedance method, a novel contact model of the ball-raceway joint surface and the LRG is proposed. The HJG-DA35C LRG is tested and the corresponding experimental platform is established. The measured results under different working conditions are close to the predicted results of the model. The research results can be used to analyze and predict the static and dynamic characteristics of the LRG, provide a basis for rational design and performance improvement, and also lay a foundation for the performance prediction of the whole machine.