The hardware-in-the-loop (HIL) contact simulation has a distortion problem due to the phase difference between the measured contact force and desired motion of the spacecraft. In this chapter, the measured force is compensated by considering the force measurement delay, the position response error of the lower motion simulator and the structural deformation of the upper platform. The delayed force measurement is first phase leaded. The force error caused by the response delay of the lower motion simulator is compensated by the response error and contact stiffness. The force error caused by the structural deformation of the upper platform is compensated by the deformation prediction and contact stiffness. Both simulations and experiments show that the approach can effectively reduce the distortion and improve the simulation accuracy.