Substrates supporting two-dimensional materials are omnipresent in micro/nano electromechanical systems. Moreover, substrates are indispensable to all nanotribological experimental systems. However, substrates have rarely been taken into account in first-principles simulations of nanotribological systems. In this work, we investigate the effects of substrates on nanofriction by carrying out first-principles simulations of two systems: (a) one graphene monolayer sliding on another one supported by a metal substrate, denoted as the Gr-Gr/Metal system; and (b) a diatomic tip sliding on a graphene monolayer supported by a metal substrate, named the Tip-Gr/Metal system. Each substrate is made of triatomic layers constituting the minimum period and obtained by cutting a metal through its (111) surface. By varying metal substrates and analyzing the results of the first-principles simulations, it follows that (i) the fluctuation in the sliding energy barriers of the two systems can be modified by changing substrates; (ii) the adsorption type and the pressure affect friction; (iii) the presence of a substrate varies the interfacial binding strength; and (iv) the modulation of friction by substrates lies in altering the interface electron density. These results provide an answer to the important question of how substrates affect the friction on graphene at the nanoscale.