In this paper, a forced response prediction method for the analysis of constrained and unconstrained structures coupled through frictional contacts is presented. This type of frictional contact problem arises in vibration damping of turbine blades, in which dampers and blades constitute the unconstrained and constrained structures, respectively. The model of the unconstrained/free structure includes six rigid body modes and several elastic modes, the number of which depends on the excitation frequency. In other words, the motion of the free structure is not artificially constrained. When modeling the contact surfaces between the constrained and free structure, discrete contact points along with contact stiffnesses are distributed on the friction interfaces. At each contact point, contact stiffness is determined and employed in order to take into account the effects of higher frequency modes that are omitted in the dynamic analysis. Depending on the normal force acting on the contact interfaces, quasistatic contact analysis is initially employed to determine the contact area as well as the initial preload or gap at each contact point due to the normal load. A friction model is employed to determine the three-dimensional nonlinear contact forces, and the relationship between the contact forces and the relative motion is utilized by the harmonic balance method. As the relative motion is expressed as a modal superposition, the unknown variables, and thus the resulting nonlinear algebraic equations in the harmonic balance method, are in proportion to the number of modes employed. Therefore the number of contact points used is irrelevant. The developed method is applied to a bladed-disk system with wedge dampers where the dampers constitute the unconstrained structure, and the effects of normal load on the rigid body motion of the damper are investigated. It is shown that the effect of rotational motion is significant, particularly for the in-phase vibration modes. Moreover, the effect of partial slip in the forced response analysis and the effect of the number of harmonics employed by the harmonic balance method are examined. Finally, the prediction for a test case is compared with the test data to verify the developed method.