The current paper presents a procedure for solving frictional contact problems based on the linear complementary and the extended finite element method (XFEM). This method is used to discretize the equations, allowing for the modeling of discontinuities whose geometry is independent of the computational mesh. However, when compressive external loadings are applied, contact between discontinuous faces may occur. Therefore, the contact conditions must be considered in the XFEM analysis. The nonlinear frictional contact between the discontinuity faces is resolved with one linear complementary problem, so that the iterative procedure can be avoided. Numerical simulations illustrate that the method can model effectively the frictional contact problems and contact fracture mechanics.