This paper focuses on computational methods for dynamics of wheel/rail systems. Such methods are needed, for instance in order to model wheel/rail noise, like rolling noise or curve squeal noise. For this purpose, the use of accurate wheel/rail rolling contact models is crucial. This is especially the case for curve squeal, characterised by high-frequency friction-induced instabilities. There are actually several wheel/rail frictional rolling models. However, in most of them, some simplifications are made to determine contact forces. The aim of this paper is to develop a full Finite Element (FE) computational method for the dynamics of wheel/rail frictional rolling contact systems in order to calculate reference solutions. The proposed method is characterized by the use of a fine FE discretization of the contact surface in an Eulerian frame, non-smooth frictional contact laws and model reduction techniques. An application to the frictional rolling contact between two cylinders is presented in both quasi-static and free dynamic cases, without instabilities. The results of the approach in both quasi-static and dynamic conditions show a good agreement with Kalker's CONTACT software.