With ordinary 'rubber cement' glue. Apply to both surfaces and set in place just before glue totally dries. Ive done this dozens of times and its there permanently if you do it right. Also, 3M makes...
Check the following webiste and scroll down the large coefficient of friction table.
http://www.roymech.co.uk/Useful_Tables/Tribology/co_of_frict.htm
The table contains COF valus for rubber on...