We consider a static frictional contact between a nonlinear elastic body and a foundation. The contact is modelled by a normal compliance condition such that the penetration is restricted with unilateral constraint and associated to the nonlocal friction law. We derive a variational formulation and prove its unique weak solvability if the friction coefficient is sufficiently small. Moreover, we prove the continuous dependence of the solution on the contact conditions. Also we study the finite element approximation of the problem and obtain an error estimate.