The force exerted by a body when there is a direct contact between them are called contact force.
Note: For instance, if a person pushes a book with his finger, the force that moves the book is electromagnetic. Electrostatic repulsion between the atom's in the person's finger and the atoms in the book creates a force that we usually think of as being created by contact. Since it is difficult to think of such contact forces as electromagnetic, we will label them as 'contact forces' instead of electromagnetic forces.