How to create tabbed menu consisting of views and a contact form while having unique paths for each tab?
If your "Contact us" page is not the default Drupal contact page, but a webform (i.e. a node), you could use views to create tabs (see this tutorial, for example). In that case you would create a view that shows just the one webform node and configure it the way that it is displayed as a tab - and the FAQ view as default tab.

I suppose that there is also a workaround embedding the contact form instead of using a webform node.