<p>The nonsmooth modeling method based on the cone complementarity problem (CCP) is one of the most effective approaches for solving spatial frictional contact problems. By incorporating a relaxation term and a prediction term related to the tangential relative velocity within the normal complementarity condition, this method becomes more manageable to solve and can be extended to systems with high tangential relative velocity. However, when the analyzed system experiences significant changes in tangential relative velocity or has a high friction coefficient, the discrepancy between the prediction term and the relaxation term can lead to unreasonable numerical oscillations in the model, particularly at the initial simulation values. This instability adversely affects the reliability of the simulation. Therefore, the objective of this paper is to propose an improved numerical method—the prediction-correction method. Building upon the existing method, an iterative correction mechanism for the predicted value of the tangential relative velocity is introduced. This mechanism eliminates artificial errors and the resulting numerical oscillation issues, thereby providing an accurate solution to the spatial frictional contact problem, particularly in cases involving high friction coefficients. Finally, several numerical examples are presented to validate the effectiveness of the proposed method.</p>