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The goal of this paper is to introduce and study a new class of fractional differential hemivariational inequality formulated by an evolutionary hemivariational inequality and a fractional differential equation in Banach spaces. By employing the Rothe method and the surjectivity result, we derive the existence of unique solution for such a problem under some mild conditions. Moreover, we use the fully discrete scheme to approximate the fractional differential hemivariational inequality and provide an error estimate for the approximation. Finally, the main results are applied to obtain the unique solvability as well as the numerical analysis for a viscoelastic frictional contact problem with adhesion. [ABSTRACT FROM AUTHOR]