A contact version of a Laudenbach's engulfing theorem is proved. Some properties of the notions of contact displacement energy and contact Hofer-Zehnder capacities are presented and, under the condition of existence of a modified action selector on a contact manifold, we can prove some inequalities involving these invariants. These inequalities are similar to the ones obtained by Frauenfelder, Ginzburg and Schlenk, in the symplectic case.