The tangential contact stiffness is an important parameter used in non-linear dynamic analyses of jointed structures since it can strongly affect the prediction of resonance frequencies. Many experimental techniques are available for contact stiffness estimations, but the reliability of such estimations remains unknown due to a lack of comparative studies. This paper proposes a comparative study of contact stiffness measurements obtained with two experimental techniques: hysteresis loop measurements and Frequency Based Substructuring (FBS). Hysteresis loops are traditionally measured with dedicated friction test rigs to provide, amongst others, contact stiffness estimations through local interface measurements. The assumption with hysteresis measurements is that the measured parameters are independent of the dynamics of the test rig and can therefore be used as input for analyses of other structures, as long as loading conditions and contact interfaces are comparable. An alternative approach to identify the contact stiffness is FBS, which uses information from the overall system dynamics. FBS has the advantage that it can be applied to any structure, without the need of building ad-hoc test rigs, consequently giving a structure-specific information. Despite this advantage over hysteresis measurements, it is as of yet not well understood how accurately FBS can extract contact stiffness values. This paper presents FBS measurements and hysteresis loop measurements performed simultaneously on the same contact interface of a traditional high-frequency friction rig during vibration, thus enabling a cross-validation of the results of both techniques. This novel comparison validates FBS approaches against local hysteresis measurements and shows the strengths and limitations of both experimental methods, making it possible to improve the current understanding of the contact stiffness of jointed structures. •Contact stiffness measurements and guidelines for use in nonlinear dynamic analysis.•Comparison of FBS and hysteresis loops for contact stiffness estimations.•FBS can provide structure-dependent contact stiffness estimations.•Joint resonances strongly influence contact stiffness over a wide frequency range.•The shape of stuck hysteresis loops can indicate (unknown) structural resonances.