Use Matrix Block as footer
First you need to get the correct entry. Based on what you write, you can get it in any template by doing:

{% set contactPageEntry = craft.entries.section('pages').type('contact').first() %}


Then you should be able to loop over your matrix field like this:

{% for block in contactPageEntry.MatrixFieldHandle.type('MatrixBlockHandle') %}
    {{ block.title }} etc...
{% endfor %}