This paper reports a thermo-viscoelastic (TVE) contact model of layered materials, subjected to frictional and viscoelastic heating. The mathematical formulation includes the frequency-domain solutions for TVE fields, built on velocity-frequency-temperature relationships. The numerical implementation includes the development of a contact-pressure solver, a heat-partition solver, and a temperature-dependent modulus solver. The model is verified with experimental and numerical results. Both rubber coating-elastic substrate and elastic layer-rubber substrate systems are analyzed. The results reveals that, for the former, the rubber-coating temperature rises with increasing velocity, while for the latter, the rubber-substrate temperature becomes lower with increasing elastic-layer thickness. Moreover, the modulus modification due to higher temperatures leads to higher pressures, and that ignoring the velocity effects on modulus overestimates the temperature rise.