More than thirty years ago, it was theoretically predicted that friction for incommensurate contacts between atomically smooth, infinite, crystalline materials (e.g., graphite, MoS2) is vanishing in the low speed limit, and this corresponding state was called structural superlubricity (SSL). However, experimental validation of this prediction has met challenges, since real contacts always have a finite size, and the overall friction arises not only from the atoms located within the contact area, but also from those at the contact edges which can contribute a finite amount of friction even when the incommensurate area does not. Here, we report, using a novel method, the decoupling of these contributions for the first time. The results obtained from nanoscale to microscale incommensurate contacts of graphite under ambient conditions verify that the average frictional contribution of an inner atom is no more than 10(-4) that of an atom at the edge. Correspondingly, the total friction force is dominated by friction between the contact edges for contacts up to 10 mu m in lateral size. We discuss the physical mechanisms of friction observed in SSL contacts, and provide guidelines for the rational design of large-scale SSL contacts.