The nice thing about contact printing is you can make it as simple and cheap or as involved and expensive as you want it to be.
All you need to get started is a piece of glass the same size or larger than your negative, a negative, a piece of photographic paper and a light source and timer.
Place the paper emulsion side up under the light source, place your neg on the paper emulsion side down, cover it with the glass to keep it flat, and then expose to light. Some people use their enlarger as a light source, but a bare bulb placed a few feet above the paper would work as well. It just has to be something you can control and repeat. Processing is the same as for any enlargement. Beyond that you could also buy a contact printing frame to hold the paper and neg as well - or if your pockets are deep you could get a vacuum uv light source which is much more powerful for alternative process contact prints.
But keep it simple at first - see my second sentence. Contact printing can and should be simple.