The theoretical and experimental analysis described in this paper demonstrate a simple systematic procedure to determine the contact parameters between a spherical impactor and an elastic half space via impact tests. Two main contact parameters were measured at different velocities of impact, that is the time duration of contact and the maximum normal contact force. A general nonlinear contact model based on power law is used to extract the contact stiffness and frequency of contact resonance from these two main contact parameters. Experimental results were obtained and compared for three steel samples with different hardness numbers and impacted by different sphere diameters of 2.0, 2.5 and 3.5mm to investigate the limits of elastic deformation. Effect of the used sphere diameter on the contact parameters are shown. The test results show that the adopted model using independently measured material data can predict the contact parameters due to hard sphere impact with elastic half space. The general trend shows the increase of contact stiffness with the sphere diameter but the limits of elastic regime decrease.