diff --git a/src/jaxsim/rbda/contacts/common.py b/src/jaxsim/rbda/contacts/common.py
index 6bdce1762..9a3fc3f24 100644
--- a/src/jaxsim/rbda/contacts/common.py
+++ b/src/jaxsim/rbda/contacts/common.py
@@ -324,10 +324,10 @@ def initialize_model_and_data(
             The initialized model and data objects.
         """
 
-        with model.editable(validate=validate) as model_out:
-            model_out.contact_model = self
+        with self.editable(validate=validate) as contact_model:
+            contact_model.parameters = data.contacts_params
 
-        with data.editable(validate=validate) as data_out:
-            data_out.contacts_params = data.contacts_params
+        with model.editable(validate=validate) as model_out:
+            model_out.contact_model = contact_model
 
-        return model_out, data_out
+        return model_out, data