Abstract: To meet the requirements of dynamic modeling and system simulation of contact and impact in flexible multibody systems during spacecraft in-orbit operations, a flexible multibody contact and impact dynamic modeling method is proposed. The method is intended to characterize the dynamic behaviors associated with the generation, transmission and dissipation of impact energy during structural vibration and contact interactions. The established dynamic equations are applicable to any linear structures undergoing small deformations as well as to convex geometric shapes, exhibiting high generality in both structural dynamic models and geometric models. In addition, multi-face and multi-point contact/impact detection can be achieved, which is more consistent with actual physical processes. By coupling the flexible body contact and impact dynamic equations with the flexible multibody dynamic equations, a unified simulation model is constructed. This model can be applied to the overall scheme design and system-level simulation validation of typical spacecraft in-orbit operation tasks, such as in-orbit capture of space targets and in-orbit assembly of space structures.