The article covers the issues of tribological interaction in tracked undercarriage systems of traction and transportation vehicles with rubber reinforced tracks on agricultural tractors example. Taking into account the interaction not only with units and mechanisms of tracked undercarriage system, but also with aggressive environmental factors, the most exposed to wear element is rubber reinforced track. Varieties of friction and wear processes are considered for it, their analytical evaluation is given. In particular, we analyze mechanical or physical friction: friction in contact with the supporting surface, its relief, abrasive particles and substances; friction in contact with drive and driven elements of the propulsor, sprockets, rollers, etc.; intermolecular or chemical friction: interlayer, hysteresis friction in the rubber mass. Destruction of rubber reinforced track systems as a result of wear and tear is the main limitation of tracked undercarriage system life. Possible methods of friction reduction in tracked undercarriage system and reliability increase of rubber reinforced tracks are explained. The main of them, in addition to improving recipes, physical and mechanical properties of rubber compositions and improving the technological process of their manufacture, is a rational design of structures. The latter can be achieved only by applying modern methods of stress-strain assessment. Recommendations to further work on development of calculation and theoretical methods for designing of rubber reinforced track structures under conditions of real operation and as a part of concrete agricultural machines, analysis of reasons and possible consequences of such destructions are given. It is necessary to form a complex of measures of design and technological character for prevention of destructions of elements of tracked undercarriage systems at various stages of life cycle and also their restoration.