Particles suspended in a Newtonian fluid raise the viscosity and also generally give rise to a shear-rate dependent rheology. In particular, pronounced shear thickening may be observed at large solid volume fractions. In a recent article [R. Seto et al., Phys. Rev. Lett. 111, 218301 (2013)], we have considered the minimum set of components to reproduce the experimentally observed shear thickening behavior, including discontinuous shear thickening. We have found frictional contact forces to be essential and were able to reproduce the experimental behavior by a simulation including this physical ingredient along with viscous lubrication. In the present article, we thoroughly investigate the effect of friction and express it in the framework of the jamming transition. The viscosity divergence at the jamming transition has been a well known phenomenon in suspension rheology, as reflected in many empirical laws for the viscosity. Friction can affect this divergence, and in particular the jamming packing fraction is reduced if particles are frictional. Within the physical description proposed here, shear thickening is a direct consequence of this effect: As the shear rate increases, friction is increasingly incorporated as more contacts form, leading to a transition from a mostly frictionless to a mostly frictional rheology. This result is significant because it shifts the emphasis from lubrication hydrodynamics and detailed microscopic interactions to geometry and steric constraints close to the jamming transition. (C) 2014 The Society of Rheology.