Some of my work (on MPC, i.e. No friction) can be found at: https://fenics2021.com/slides/dokken.pdf
and the source code is available at: GitHub - jorgensd/dolfinx_mpc: Extension for dolfinx to handle multi-point constraints.
I am currently working on a Nitsche approach, based on the work of Mlika et al.
but it is not ready for the public yet.
You could also have a look at:
work by @evzen on contact Mechanics with fenics.