The linear complementarity formulation used for 2-D frictional contact conditions is combined with the method of a large displacement nonlinear dynamic analysis. The solution procedure is based on the total Lagrangian formulation and a single step time integration with a predictor and corrector scheme. For contact searching, a hierarchical scheme with a circular territory is used. Impact time and positions are detected using a second-order approximation of displacements and the velocity discontinuities during impact are considered using an impact condition. The formulation is illustrated by means of three numerical examples. (C) 2002 Elsevier Science Ltd. All rights reserved.