This study presents an analytical procedure to determine the contact stress distribution at the surface of an FGM coating perfectly bonded to a homogeneous substrate. The coating is assumed to be loaded by a rigid stamp of a semi-circular or circular profile. Using Fourier transformations, the contact mechanics problems are reduced to a singular integral equation of the second kind. Singular behavior of the unknown contact stress distribution at the end points is determined by following a function theoretic method. The singular integral equation is solved numerically using an expansion-col location technique. Main results of the study are the normal and lateral contact stress components and required contact forces as functions of material parameters. It is shown that a substrate that is softer than the FGM coating could be useful in decreasing the magnitude of the positive lateral stress at the trailing end of the contact.