The modelling of contact problems leads to significant difficulties either conceptual, mathematical or computational. Motivated by the prominent position held by contact phenomena, we are interested in the modelling, the analysis and the numerical experiments of contact problems in solid and fluid mechanics. In a first theoretical part, we study the asymptotic behavior of solutions of time-dependent variational problems arising in frictional contact mechanics. The second part is devoted to the control of computations quality in structural mechanics. In order to find a convenient formulation and to carry out a study of contact problems with the eXtended Finite Element Method (XFEM) we first obtain a residual a posteriori error estimator for ...