Typical lubricants behave in a non-Newtonian manner under conditions of high shear and high pressure, as is commonly observed in lubricated rolling/sliding contacts. To optimize and predict the friction therein, knowledge of the high-pressure rheological behaviors of lubricants and limiting shear stress (LSS) is essential. This study developed an approach for determining the LSS of lubricants based on friction mapping of rolling/sliding contacts, using a ball-on-disc traction machine. The main contribution lies in the introduction of a practical approach for the selection of a proper entrainment velocity for determining the LSS, with reduced thermal influences and near isothermal conditions. The proposed approach enables full film lubrication, while keeping the film as thin as possible to prevent excessive shear heating and, thus, thermal effects. The LSS of two lubricants, PAO40 and complex ester, has been measured at pressures ranging from 1.2 GPa to 1.7 GPa. A bilinear model has been used to describe the variation of LSS with pressure. The impact of entrainment velocity selection on the measurement of LSS is also discussed.