The stress field within machine components is an important indicator for contact failures. Since both thermal stresses due to frictional heating and plasticity are significant in engineering application, it is critical to predict the total stress field. In this work, the steady-state thermal effect is considered and a thermo-elastic–plastic contact model is developed. The model is applicable for rolling and/or sliding contact problem, as far as small equivalent plastic strain hypothesis is respected. Influence coefficients for surface normal displacement, temperature, and strain and stress tensors are used with the discrete convolution and fast Fourier transform algorithm. The single-loop conjugate gradient iteration scheme is also applied to achieve fast convergence speed. Simulations are presented for several academic examples ranging from elastic to thermo-elastic–plastic. The thermo-elastic–plastic analyses show that the heat factor in a contact situation has significant effect not only on the critical Hertzian pressure and on the pressure distribution, but also on the magnitude and depth of the maximum von Mises stress during loading and the residual ones found after unloading.