I've heard of that happening before. Few situations could have happened:
1) Someone collected for recipient but didn't tell recipient (usual case)
2) Pos Laju delivered to wrong person (rare occasion)
3) Recipient lying (it happens)

Ask your recipient to check his/her side first, then if still didn't get then contact Pos Laju (1-300-300-300 or csc@pos.com.my) and get the name and IC of the person who accepted the parcel. If the Pos Laju person delivered wrongly, then it is their responsibility to get the parcel back and send to your recipient.
If failed to deliver because recipient not home = can contact Pos Laju to arrange for second delivery FOC
If failed because of Pos Laju's own problems (I've had one case, the Puchong branch not enough manpower to deliver items in time) = have to contact Pos Laju and complain + rush them to deliver again

Either way, you can collect your parcel the next working day one. If to help your friend collect the package, supposed to need to fill the permission slip (it's on the missed delivery slip) but usually if you give them the tracking number and your IC can d one.