We present theoretical, computational (molecular dynamics), and experimental results describing the dynamical properties of a set of monodisperse, spherical particles confined to a two dimensional surface. An interaction model, which includes the interaction between the particles via collisions as well as the interaction with the substrate, shows that the properties of this granular system are influenced significantly by the latter. In particular, we analyze in detail the effects of slipping and rolling friction, which are usually overlooked. Theoretically, we explore the possibility of formulating a continuum, hydrodynamic-like theory applicable to this system. Further, we apply our model to the particular problem of a system of two kinds of particles with different frictional properties. Our experiments have found that friction-based segregation of particles moving on a horizontally shaken substrate can be achieved. Computational results give further insight into this novel segregation mechanism and confirm that careful and realistic modeling is needed in order to understand this effect.