Modeling of frictional contact systems with high accuracy needs the knowledge of several contact parameters, which are mainly related to the local phenomena at the contact interfaces and affect the complex dynamics of mechanical systems in a prominent way. This work presents a newer approach for identifying reliable values of the normal contact stiffness between surfaces in contact, in both sliding and sticking conditions. The combination of experimental tests, on a dedicated set-up, with finite element modeling, allowed for an indirect determination of the normal contact stiffness. The stiffness was found to increase with increasing contact pressure and decreasing roughness, while the evolution of surface topography and third-body rheology affected the contact stiffness when sliding.