Lately, the deployment of heterogeneous wireless networks has emerged, as part of the 5G vision, to cope with the users' exaggerated service demands. In this context, the application of Non-Orthogonal Multiple Access (NOMA) technique constitutes a promising solution to facilitate a balance between spectral efficiency and system complexity. In this paper, we consider the problem of joint user association and uplink power allocation, in heterogeneous 5G wireless networks, employing NOMA technology. The coupled problem is treated under an incomplete information scenario, where the Base Stations (BSs) have statistical only knowledge of the users' channel conditions. To deal with the incompleteness of Channel State Information (CSI), a Contract Theory (CT) based approach is introduced. A Reinforcement Learning (RL) based methodology, capitalizing on the provided feedback from the communication environment is initially adopted, in order to achieve the users to BS association in an iterative and distributed manner. The problem of uplink power allocation is subsequently formulated as a contract between each BS and its corresponding users. The optimal power is thus obtained as the solution of the optimization of each BS's utility function, while ensuring the optimality of the utility function of each associated user, given the unique communications characteristics and type of each user. Detailed numerical evaluation of the performance of the proposed unified user association and power allocation framework is provided, via modeling and simulation, illustrating its operation, features and benefits, under densely deployed heterogeneous environments.