The present study is concerned with the numerical treatment of linear elastic contact problems with friction. Making the restriction that the contact surface is constant during the loading history, we obtain a variational inequality formulation, which justifies a finite element approximation. The finitedimensional problem so obtained is shown to be equivalent to a problem of mathematical programming—namely, a parametric linear complementarity problem (LCP) involving derivatives. A solution procedure for such problems has previously been suggested. In this paper, the conditions under which this procedure defines a unique solution map, which describes the evolution of contact stresses and displacements for a prescribed load history, are given. As an application of the theory presented, the indentation of a halfspace by a flat-ended square punch is considered. Both the loading cases of a vertical displacement of the punch that increases monotonically and the gradual removal of the same displacement are considered.