Revealing mistake: When Monica and Phoebe are in Central Perk, Phoebe is looking through the list of ideas that Monica has come up with for the use of Phoebe's van. If you look closely (most obvious just after Phoebe says "let's plan the wedding reception") you can see that every single page of the notebook Phoebe is holding has the same thing written on it, instead of lots of different ideas that Monica is meant to have had.
Continuity mistake: Phoebe and Ross are in the soon to be closed bar sitting on the pool table. He clears it of everything, but a few seconds later he stops making out because the "damn balls are in the way" and somehow magics up a handful of snooker balls. If you look closely when he's clearing the table, there are two dark balls at the side which he studiously ignores, and which Lisa Kudrow then surreptitiously grabs and takes onto the table with her so David Schwimmer can grab them later.
Other mistake: In series 8, 'The One with the Videotape,' when they are watching Ross and Rachel on the TV and when Rachel (on the video) is discussing the invitations and how Monica didn't shut up about sending them, Chandler points at the TV and makes a kind-of confused face. A few minutes later, just before he says 'Did you do it on our invitations?' the same shot of him pointing and pulling a face comes up.
Continuity mistake: In the scene where Rachel believes Joey has proposed to her at the hospital after having Emma. Ross is talking to Rachel about her saying yes to Joey's proposal. The nurse brings Emma in to breast feed. When the nurse leaves, she closes the door. However, when they shoot back to Joey a couple of times before he leaves the room, the door is open.
Continuity mistake: Right before Ross and Rachel storm in, the girls show Joey how much their waxing stuff hurts. Phoebe starts putting the wax on Joey's inner arm, but then the shot changes and she is spreading in on the outer side. Also she slaps the strip on and the blue tab is hanging down off his arm, but then the shot changes again and it is on his arm with the other end of the strip hanging off the other side.
Revealing mistake: When Monica offers Joey lemonade and he takes off his clothes and is behind the lamp, the tops of his boxer shorts are visible when he says "will you just gonna give me lemonade?" Broadcasts may crop off this bottom part, DVD doesn't. You can also see his gray boxer shorts through the plant in the previous shot.
Factual error: The restaurant refuses to take anyone's orders until they're all seated, which means that the group is sitting, occupying a table, without earning any revenue for the restaurant. There isn't a restaurant in NYC that would have such a policy, since it basically guarantees that a table becomes a revenue vacuum. (It also makes for very unhappy customers, but that doesn't qualify it as a factual error, since some restaurants might be actually stupid enough to not care about their return customers).
Visible crew/equipment: After Ross goes in for his disastrous tan, when it cuts to Joey and Rachel walking into their apartment the hole (used for a camera angle) in the wall can be seen at the right side of the screen. As an aside, when Ross leaves Monica and Chandler's apartment later just as Rachel walks in, that hole is seen in the hallway and it's covered up.
Visible crew/equipment: In the scene where Ross and Joey are explaining phase two of Chandler's break up (going to strip clubs), the camera switches from the girls to Ross and Joey. Behind them is Monica's kitchen window where you can briefly see a reflection of someone passing by (crew member). At first I thought it could have been Chandler, since he was not in the scene, but after a few moments you see that Chandler has been in the bathroom the whole time.