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The presented manuscript is intended to introduce accurate computational benchmarks to predict the hysteresis behavior of beam-column steel connections by means of a 3D non-linear finite element analysis. In this study, element type, inelastic material behavior, bolts pre-tensioning, and contact properties between different components of connections are discussed. Incremental nonlinear analysis takes into account all three types of nonlinearities including material, geometry, and contact properties in predicting moment-rotation hysteresis loops. A series of full-scale structural tests are performed to validate the results obtained from the finite element analyses. This study shows that cost efficient numerical analysis simulation is capable of replacing full-scale tests for steel connections.