diff --git a/CHANGELOG.md b/CHANGELOG.md
index 422f52322a..fc2f7e8bfa 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -31,6 +31,7 @@ All notable changes to this project are documented in this file.
 - Implement `SO3Task` in `TSID` component (https://github.com/dic-iit/bipedal-locomotion-framework/pull/281)
 - Implement clone method in ParametersHandler classes (https://github.com/dic-iit/bipedal-locomotion-framework/pull/288)
 - Implement `VariablesHandler::clear()` and `VariablesHandler::initialize()` (https://github.com/dic-iit/bipedal-locomotion-framework/pull/291)
+- Implement the possibility to set the default contact in the `ContactList` class (https://github.com/dic-iit/bipedal-locomotion-framework/pull/297)
 
 ### Changed
 - Move all the Contacts related classes in Contacts component (https://github.com/dic-iit/bipedal-locomotion-framework/pull/204)
diff --git a/src/Contacts/CMakeLists.txt b/src/Contacts/CMakeLists.txt
index b0a8d617e8..0a8b4f6eed 100644
--- a/src/Contacts/CMakeLists.txt
+++ b/src/Contacts/CMakeLists.txt
@@ -10,7 +10,7 @@ if (FRAMEWORK_COMPILE_Contact)
     SUBDIRECTORIES        tests/Contacts
     PUBLIC_HEADERS        ${H_PREFIX}/Contact.h ${H_PREFIX}/ContactList.h ${H_PREFIX}/ContactPhase.h ${H_PREFIX}/ContactPhaseList.h
     SOURCES               src/Contact.cpp src/ContactList.cpp src/ContactPhase.cpp src/ContactPhaseList.cpp
-    PUBLIC_LINK_LIBRARIES MANIF::manif BipedalLocomotion::Math
+    PUBLIC_LINK_LIBRARIES MANIF::manif BipedalLocomotion::Math BipedalLocomotion::TextLogging
     INSTALLATION_FOLDER   Contacts)
 
   set(H_PREFIX include/BipedalLocomotion/ContactDetectors)
diff --git a/src/Contacts/include/BipedalLocomotion/Contacts/ContactList.h b/src/Contacts/include/BipedalLocomotion/Contacts/ContactList.h
index bfe825e198..878976983a 100644
--- a/src/Contacts/include/BipedalLocomotion/Contacts/ContactList.h
+++ b/src/Contacts/include/BipedalLocomotion/Contacts/ContactList.h
@@ -45,6 +45,7 @@ class ContactList
                                                      contacts. **/
     std::string m_defaultName{"ContactList"}; /** Default name for the contact list. **/
     BipedalLocomotion::Contacts::ContactType m_defaultContactType{BipedalLocomotion::Contacts::ContactType::FULL}; /** Default contact type. **/
+    int m_defaultIndex{-1}; /**< Default Frame index of the contact */
 
 public:
     using const_iterator
@@ -70,6 +71,18 @@ class ContactList
      */
     void setDefaultContactType(const BipedalLocomotion::Contacts::ContactType& type);
 
+    /**
+     * @brief Set the default frame index of the contact
+     * @param defaultIndex the default index.
+     */
+    void setDefaultIndex(int defaultIndex);
+
+    /**
+     * @brief Get the default frame index of the contact
+     * @return the default index.
+     */
+    int defaultIndex() const;
+
     /**
      * @brief Get the default contact type.
      * @return the default contact type.
diff --git a/src/Contacts/src/ContactList.cpp b/src/Contacts/src/ContactList.cpp
index d8feb8dd0f..a39db37c4c 100644
--- a/src/Contacts/src/ContactList.cpp
+++ b/src/Contacts/src/ContactList.cpp
@@ -6,7 +6,8 @@
  */
 
 #include <BipedalLocomotion/Contacts/ContactList.h>
-#include <iostream>
+#include <BipedalLocomotion/TextLogging/Logger.h>
+
 #include <iterator>
 #include <cassert>
 
@@ -37,24 +38,41 @@ const ContactType &ContactList::defaultContactType() const
     return m_defaultContactType;
 }
 
+void ContactList::setDefaultIndex(int defaultIndex)
+{
+    m_defaultIndex = defaultIndex;
+}
+
+int ContactList::defaultIndex() const
+{
+    return m_defaultIndex;
+}
+
 bool ContactList::addContact(const PlannedContact &newContact)
 {
+    constexpr auto errorPrefix = "[ContactList::addContact]";
+
     if (newContact.activationTime > newContact.deactivationTime)
     {
-        std::cerr << "[ContactList::addContact] The activation time cannot be greater than the deactivation time." <<std::endl;
+        log()->error("{} The activation time cannot be greater than the deactivation time.",
+                     errorPrefix);
         return false;
     }
     using iterator = std::set<PlannedContact, ContactCompare>::iterator;
     std::pair<iterator,bool> res = m_contacts.insert(newContact);
     if (!res.second)
     {
-        std::cerr << "[ContactList::addContact] Failed to insert new element.";
+        log()->error("{} Failed to insert new element.", errorPrefix);
         if (res.first != end())
         {
-            std::cerr << " The new contact (activationTime: " << newContact.activationTime << " ";
-            std::cerr << "deactivationTime: " << newContact.deactivationTime << ") is not compatible";
-            std::cerr << " with an element already present in the list (activationTime: " << res.first->activationTime << " ";
-            std::cerr << "deactivationTime: " << res.first->deactivationTime << ")" << std::endl;
+            log()->error("{} The new contact (activationTime: {} deactivationTime: {}) is not "
+                         "compatible with an element already present in the list (activationTime: "
+                         "{} deactivationTime: {}).",
+                         errorPrefix,
+                         newContact.activationTime,
+                         newContact.deactivationTime,
+                         res.first->activationTime,
+                         res.first->deactivationTime);
         }
         return false;
     }
@@ -68,6 +86,7 @@ bool ContactList::addContact(const manif::SE3d &newTransform, double activationT
     newContact.activationTime = activationTime;
     newContact.deactivationTime = deactivationTime;
     newContact.name = m_defaultName;
+    newContact.index = m_defaultIndex;
     newContact.type = m_defaultContactType;
 
     return addContact(newContact);
@@ -155,7 +174,7 @@ bool ContactList::editContact(ContactList::const_iterator element, const Planned
 {
     if (element == end())
     {
-        std::cerr << "[ContactList::addContact] The element is not valid." << std::endl;
+        log()->error("[ContactList::addContact] The element is not valid.");
         return false;
     }
 
@@ -167,7 +186,8 @@ bool ContactList::editContact(ContactList::const_iterator element, const Planned
         --previousElement;
         if (newContact.activationTime < previousElement->deactivationTime)
         {
-            std::cerr << "[ContactList::addContact] The new contact cannot have an activation time smaller than the previous contact." << std::endl;
+            log()->error("[ContactList::addContact] The new contact cannot have an activation time "
+                         "smaller than the previous contact.");
             return false;
         }
     }
@@ -176,7 +196,8 @@ bool ContactList::editContact(ContactList::const_iterator element, const Planned
     {
         if (newContact.deactivationTime > nextElement->activationTime)
         {
-            std::cerr << "[ContactList::addContact] The new contact cannot have a deactivation time greater than the next contact." << std::endl;
+            log()->error("[ContactList::addContact] The new contact cannot have a deactivation "
+                         "time greater than the next contact.");
             return false;
         }
     }
@@ -207,7 +228,8 @@ bool ContactList::keepOnlyPresentContact(double time)
 
     if (dropPoint == end())
     {
-        std::cerr << "[ContactList::addContact] No contact has activation time lower than the specified time." << std::endl;
+        log()->error("[ContactList::addContact] No contact has activation time lower than the "
+                     "specified time.");
         return false;
     }