This paper presents a numerical model for analyzing the stresses and displacements of deformable bodies in contact with the presence of friction and material nonlinearity. Based on the finite element method (FEM), the elastoplastic frictional contact problem is formulated as an incremental convex programming model (ICPM) under inequality contact constraints and friction conditions. The classical Coulomb's friction law and the Prandtl-Reuss flow rule with the von Mises yield criterion are used to simulate the interface friction conditions and the elastoplastic behavior of the contacting bodies, respectively. The Lagrange multiplier approach is adopted for imposing the contact constraints. Furthermore, an effective adaptive incremental procedure is developed for solving the elastoplastic frictional contact problems. Examples for the frictional contact having advancing and receding nature are analyzed. The obtained results prove the ability of the developed procedure to investigate the sequence of different events during monotonic application of external loads. In addition, the results elucidate the effect of external side force on the friction behavior in the presence of plastic deformation. Good agreement has been found with published results.