We consider a mathematical model which describes a static contact between a nonlinear elastic body and an obstacle. The contact is modelled with Signorini's conditions, associated with a slip-dependent version of Coulomb's nonlocal friction law. We derive a variational formulation and prove its unique weak solvability. We also study the finite element approximation of the problem and obtain an optimal error estimate under extra regularity for the solution. Finally, we establish the convergence of an iterative method to the finite element problem.