We develop rate-dependent regularization approaches forthree-dimensional frictional contact constraints based on the Kelvin andMaxwell viscoelastic constitutive models. With the presentregularization schemes, we aim to provide a basis to better modelfriction and to stabilize the contact analysis while keeping the contactmodel as simple as possible. The key feature of the regularizationapproaches, implemented using an implicit time integrator, is that onecan recover in the limit the widely used rate-independent elastoplasticregularization framework without encountering numerical difficulties.Through numerical simulations, we observed that the Maxwell-typeregularization effectively avoids convergence problems, even forrelatively large time step sizes, while the Kelvin-type regularizationdoes not.