A variational inequality formulation is derived for some frictional contact problems from
linear elasticity. The formulation exhibits a two-fold saddle point structure and is of
dual-dual type, involving the stress tensor as primary unknown as well as the friction
force on the contact surface by means of a Lagrange multiplier. The approach starts with
the minimization of the conjugate elastic potential. Applying Fenchel's duality theory to
this dual minimization problem, the connection to the primal minimization problem and a
dual saddle point problem is achieved. The saddle point problem possesses the displacement
field and the rotation tensor as further unknowns. Introducing the friction force yields
the dual-dual saddle point problem. The equivalence and unique solvability of both
problems is shown with the help of the variational inequality formulations corresponding
to the saddle point formulations, respectively.