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A consistent formulation for unilateral contact problems including frictional work hardening or softening is proposed. The approach is based on an augmented Lagrangian approach coupled to an implicit quasi‐static Finite Element Method. Analogous to classical work hardening theory in elasto‐plasticity, the frictional work is chosen as the internal variable for formulating the evolution of the friction convex. In order to facilitate the implementation of a wide range of phenomenological models, the friction coefficient is defined in a parametrised form in terms of Bernstein polynomials. Numerical simulation of a 3D deep‐drawing operation demonstrates the performance of the methods for predicting frictional contact phenomena in the case of large sliding paths including high curvatures.