Abstract. Abstract The paper deals with shape optimization of elastic bodies in unilateral contact. The aim is to extend the existing results to the case of contact problems, where the coefficient of friction depends on the solution. We consider the two-dimensional Signorini problem, coupled with the physically less accurate model of given friction, but assume a solution-dependent coefficient of friction. First, we investigate the shape optimization problem in the continuous, infinite-dimensional setting, followed by a suitable finite-dimensional approximation based on the finite-element method. Convergence analysis is presented as well. Next, an algebraic form of the state problem is studied, which is obtained from the discretized problem by further approximating the frictional term by a quadrature rule. It is shown that if the coefficient of friction is Lipschitz continuous with a sufficiently small modulus, then the algebraic state problem is uniquely solvable and its solution is a Lipschitz continuous function of the control variable, describing the shape of the elastic body. For the purpose of numerical solution of the shape optimization problem via the so-called implicit programming approach we perform sensitivity analysis by using the tools from the generalized differential calculus of Mordukhovich. The paper is concluded first order optimality conditions.