By means of the contact dynamics discrete element method, we investigate the quasi-static behavior of granular media composed of rigid frictional particles. Eluding specific modeling of the contact rheology, this method is suitable for numerical simulation of the plastic deformations of granular materials. We studied the macroscopic stress-strain and volume-change behavior, as well as force transmission and shear instabilities, in a two-dimensional biaxial geometry for dense samples composed of 5000 rigid disks. The peak and residual strengths and shear bands were analyzed by varying the confining pressure and the coefficient of friction between particles. The results are consistent with well-known features of the plasticity of noncohesive granular media. The mechanical behavior is rigid-plastic governed by a Mohr-Coulomb yield criterion and showing strain hardening and softening. Conjugated shear bands characterize plastic failure. The volumetric strain is globally dilatant with considerable expansion observed along shear bands. The macroscopic coefficient of friction, determined from peak and residual strengths, increases nonlinearly and saturates to a constant value as a function of contact friction. The strong force chains are mostly parallel to the major principal stress axis, yet deviations are observed near the shear bands. These chains are often composed of particles that are larger than the average. The deviatoric stress shows small fluctuations often in the form of rapid falls that are correlated with tiny contractional events. This behavior is interpreted in terms of the propagation of dynamic shear instabilities along the shear bands, in close analogy with stick-slip behavior.