The invention provides a friction welding method for bidirectional embedding and mechanical reinforcing of heterogeneous materials. The method sequentially comprises the following steps that S001, structural design of a welding joint is carried out; S002, a welding clamping tool carries out machining; S003, treatment before welding is conducted; S004, friction welding is carried out; and S005, post-welding treatment is carried out. According to the method, welding joint structures of an inner groove (11), a boss (12) and an outer groove (13) are sequentially machined on a to-be-welded end face of a hard material with high strength and high hardness from a central shaft to the outside, and a welding joint structure of a welding groove (21) is machined on a to-be-welded face of a soft material with low strength and low hardness. W-shaped two-way embedding and mechanical reinforcing between the heterogeneous materials is achieved, the welding area is gradually increased to improve welding forming and promote improvement of the welding capacity, the problems that after the heterogeneous materials are welded, a connector is low in axial and radial strength, poor in toughness, large in stress and the like are effectively solved, the welding efficiency is high, and the welding quality is good.