I fixed the problem and it had nothing to do with the module being previously installed, we created a custom page called "Contact" and this page entry in the table "sys_objects_page" was using the same URI that the Contact Module was trying to use which is "contact".

I deleted the custom page we created called "contact" and installed the Module successfully. 

Why do the modules install pages in the same table as custom pages and would it not be better to keep them in separate tables?