In order to better simulate a real model which can be realized in experiment, we study a two-dimensional(2D) Frenkel-Kontorova(FK) model driven by the disordered substrate potential which is charactered by the sum of identical Gaussian functions. Commensurate and incommensurate interfaces are discussed. In the paper, we mainly analyse the mechanism of friction, and the effects of static friction force on the disordered substrate potential.