A three-dimensional numerical model based on a semianalytical method in the framework of small strains and small displacements is presented for solving an elastic-plastic contact with surface traction. A Coulomb’s law is assumed for the friction, as commonly used for sliding contacts. The effects of the contact pressure distribution and residual strain on the geometry of the contacting surfaces are derived from Betti’s reciprocal theorem with initial strain. The main advantage of this approach over the classical finite element method (FEM) is the computing time, which is reduced by several orders of magnitude. The contact problem, which is one of the most time-consuming procedures in the elastic-plastic algorithm, is obtained using a method based on the variational principle and accelerated by means of the discrete convolution fast Fourier transform (FFT) and conjugate gradient methods. The FFT technique is also involved in the calculation of internal strains and stresses. A return-mapping algorithm with an elastic predictor∕plastic corrector scheme and a von Mises criterion is used in the plasticity loop. The model is first validated by comparison with results obtained by the FEM. The effect of the friction coefficient on the contact pressure distribution, subsurface stress field, and residual strains is also presented and discussed.