In this thesis we use the finite element method to analyze normal and partial slip contact between two elastic cylinders. Contact conditions are transformed into multiple point constraints for nodal displacements. In a previous study the tangential contact force can only be produced by imposing tangential nodal forces upon the contact region. In this study tangential contact conditions are modified so that tangential contact forces may be produced by the specified tangential displacements. The method developed in this study may be used to obtain the contact length, lengths of the stick and the slip regions, the normal and the tangential contact stresses.