Many load bearing or power transmitting conjunctions in engine and drivetrain are counterforming concentrated contacts. The mechanics of contact is described by small strain localized deformation, described by Hertzian contact mechanics. Usually, a thin film of lubricant exists in contacts such as in the cam–follower pair, ball and rolling element bearings, and meshing gear teeth pairs. The regime of lubrication is invariably mixed elastohydrodynamics. This chapter provides an introduction to the fundamentals of contact mechanics, Hertzian theory, and elastohydrodynamic regime of lubrication. It also highlights the mechanisms of viscous and boundary friction in concentrated contacts.