This paper presents an experimental study of a test rig designed to emulate drill-string dynamic phenomena and construct torsional stability maps. The primary objective is to analyze the torsional vibration of a slender shaft subjected to frictional torque induced by pins, considering various imposed axial forces and rotational speeds. A methodology for building the stability map is proposed. Three different scenarios that influence torsional behavior are analyzed, resulting in distinct stability maps. The findings indicate that initiating shaft rotation prior to axial contact and applying axial oscillations during contact contribute to improving torsional stability. Overall, the study highlights the significance of these factors in understanding and enhancing torsional stability in drill-string systems.