Discrete dislocation plasticity (DDP) calculations are carried out to investigate the response of a single crystal contacted by a rigid sinusoidal asperity under sliding loading conditions to look for causes of microstructure change in the dislocation structure. The mechanistic driver is identified as the development of lattice rotations and stored energy in the subsurface, which can be quantitatively correlated to recent tribological experimental observations. Maps of surface slip initiation and substrate permanent deformation obtained from DDP calculations for varying contact size and normal load suggest ways of optimally tailoring the interface and microstructural material properties for various frictional loads.