Nonlinear finite element analysis is employed to study the soft-finger contact mechanics. Two fingertips of the same material but with different sizes are analyzed. The results are compared with experiments to support the power-law theory proposed by Xydas and Kao (1999). The material properties used in the FEM analysis are based upon uniaxial compression experiments conducted using the actual fingertip material. The coefficient of friction is also experimentally determined and applied in the simulation. Comparisons of numerical as well as experimental radii of contact are offered in conjunction with the power-law theory for soft fingers. The pressure distribution profile at the contact zone, obtained from the finite elements analysis, is plotted and the order of the generalized pressure distribution profile is calculated. Finally, the influence of friction over the contact area is investigated using FEM analysis.