Summary: The present temporal analysis of impact between two rough and compliant hard bodies employs a lumped-parameter model of the small region of contact that suffers significant deformations. This model represents effects of both normal and tangential compliance by means of discrete elements. By employing specific compliance relations one obtains smooth dynamics of the time-dependent processes of stick and sliding that take place in the contact region during an oblique collision. Effects of compliance and friction on the contact process in an eccentric impact configuration are obtained for planar changes in relative motion and for energy dissipation during impact. The solutions are compared with results obtained with the assumption of negligible compliance in order to determine the range of impact velocities and structural parameters wherein tangential compliance significantly affects the results.