In this paper we present results on existence, uniqueness and convergence of solutions to the Cauchy problem for abstract first order evolutionary inclusion which contains two operators depending on the history of the solution. These results are applicable to a dynamic contact problem for viscoelastic materials with a normal compliance contact condition with memory and a friction law in which the friction bound depends on the magnitude of the tangential displacement. The proofs are based on recent results for hemivariational inequalities and a fixed point argument.