The objective of this paper is to propose a time integration scheme for nonsmooth mechanical systems involving one-sided contact, impact and Coulomb friction, that respects the principles of discrete-time energy balance with positive dissipation. To obtain energetic consistency in the continuous time model when an impact occurs, we work with an impact law with friction inspired by the work of M. Frémond (Frémond, 1995, 2001, 2002, 2017) which ensures that dissipation is positive, i.e. that the Clausius–Duhem inequality is satisfied for the impulses and the velocity jumps. On this basis, we propose a time integration method based on the Moreau–Jean scheme (Jean and Moreau, 1987; Moreau, 1988) with a discrete version of the Frémond impact law, and show that this method has correct dissipation properties.