Everyone came home from England was questioned. (Timothy O’Grady, I Could Read the Sky)
Contact clauses are dependent clauses attached directly to their antecedent, i.e., without any relative pronoun. For example: a book I read; the town we visited; a person you admire. In each case that, which or who might be added after the noun phrase, but doesn’t have to be.
Otto Jespersen introduced the term, calling them contact clauses “because what characterizes them is the close contact in sound and sense between the clause and what precedes it”.