This study investigates the walking phenomenon in washing machines, focusing on modeling the leg and ground contact dynamics that influence stability during operation. A detailed multibody washing machine model is developed to simulate dynamic interactions between the leg and ground under varying frictional conditions. The initiation of walking is analyzed by examining the effects of leg stiffness, damping, and contact friction on overall stability. To achieve this, a local dynamic leg model based on a user-defined force element is integrated into a multibody dynamic model using Adams software. Experimental measurements are used to determine key parameters, including the damping and stiffness properties of the leg and the friction coefficient at the contact interface between the leg and a ceramic surface. Additionally, experimental validation tests—including stability assessments under operational loading conditions—show strong agreement with the simulation results, verifying that the proposed models can accurately predict the onset of walking behavior. This research provides valuable insights into the complex dynamics of washing machine stability, highlighting the influence of leg-ground contact properties. The findings highlight potential adjustments in leg and ground contact design parameters that may help reduce the walking tendency and improve the washing machine's stability, addressing user and industry expectations for reliability and robustness.