In this study, the frictional contact problem for a layer bonded to a homogeneous substrate is considered according to the theory of elasticity. The layer is indented by a rigid cylindrical stamp which is subjected to concentrated normal and tangential forces. The friction between the layer and the stamp is taken into account. The problem is reduced to a singular integral equation of the second kind in which the contact pressure function and the contact area are the unknown by using integral transform technique and the boundary conditions of the problem. The singular integral equation is solved numerically using both the Jacobi polynomials and the Gauss-Jacobi integration formula, considering equilibrium and consistency conditions. Numerical results for the contact pressures, the contact areas, the normal stresses, and the shear stresses are given, for both the frictional and the frictionless contacts.