In this study, the dynamic behavior of an elastic sphere-plane contact interface is studied analytically and experimentally. The analytical model includes both a continuous nonlinearity associated with the Hertzian contact and a clearance-type nonlinearity due to contact loss. The dimensionless governing equation is solved analytically by using multi-term harmonic balance method in conjunction with discrete Fourier transforms. The accuracy of the dynamic model and solution methods is demonstrated through comparisons with experimental data and numerical solutions for both harmonic amplitudes of the acceleration response and the phase difference between the response and the force excitation. A single-term harmonic balance approximation is used to derive a criterion for contact loss to occur. The influence of harmonic external excitation and damping ratio on the steady state response is also demonstrated.