The present paper is devoted to the analysis of the contact/impact problems with Coulomb friction and large deformation between two hyperelastic bodies of Gent model. The total Lagrangian formulation is adopted to describe the geometrically non-linear behavior. For the finite element implementation, the explicit expression of the incremental law of Gent model is derived. A first order algorithm is applied for the numerical integration of the time-discretized equation of motion. Efficiency and accuracy of the resulting method is illustrated on a two-dimensional static contact problem and a three-dimensional dynamic contact problem as compared with ANSYS simulations.