A numerical approach for solving the fretting contact on coated or layered materials, with consideration of loading history, is presented in the paper. The fretting problem was solved by using a semi-analytical method (SAM), in which analytical relations between a unit stress and corresponding displacements or stresses were obtained through the use of the Papkovich–Neuber potentials. Conjugate gradient method (CGM) and fast Fourier transform (FFT) technique were employed to increase the solution speed. The algorithm was very effective since the meshes applied to the positions were just in the contact areas of interest, which saves the computing time. The fretting contact of coated materials was studied and the effects of stick-slip behaviors were analyzed. Results show that the coupled effects between the shear tractions and the pressure make the contact behaviors quite different with the solutions from same materials. The solutions depend on the path or history of the loading process when the ball is under dynamic loads, and the contact behaviors rely on the degree of dissimilarity of material properties.