Pandemics like COVID-19 often cause dramatic losses of human lives and societal impacts, urging efficient and effective contact tracing, especially in indoor venues where the risk of infection is higher. In this work, we formulate a novel query called Indoor Contact Query (ICQ) over raw, uncertain indoor positioning data that digitalizes people’s indoor mobility. Given a query object o, e.g., a virus-carrying person, an ICQ analyzes uncertain indoor positioning data to find objects that most likely had close contact with o for a long period of time. To process ICQ, we propose a set of techniques. First, we design an enhanced indoor graph model to organize different types of data necessary for ICQ. Second, for indoor moving objects, we devise methods to determine uncertain regions and to derive positioning samples missing in the raw data. Third, we propose a query processing framework with a close contact determination method, a search algorithm, and multiple acceleration strategies. We conduct extensive experiments on synthetic and real datasets, which verify the efficiency and effectiveness of our proposals.