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The classical formulation of the contact problem is considered for an elastic body with a rigid foundation, including friction described by the generalized Coulomb law. The weak formulation of the frictional contact problem leads to a variational inequality. This problem is approximated with a variational equation by using the penalty method and replacement of the Signorini condition by a nonlinear compliance boundary condition. Furthermore, certain regularization assumptions are adopted with respect to differentiability of the friction functional. Combining the approximate variational equation for frictional contact problem with the boundary integral equation formulation for elasticity problems, the authors give a boundary variational formulation of the contact problem. The derived equation is discretized with a conforming Galerkin method. 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