We consider a class of history-dependent quasivariational inequalities for which we prove the continuous dependence of the solution with respect to the set of constraints. Then, under additional assumptions, we associate with each inequality in the class a new inequality, the so-called dual variational inequality, for which we state and prove existence, uniqueness, equivalence and convergence results. The proofs are based on various estimates, monotonicity and fixed-point arguments for history-dependent operators. Our abstract results are useful in the study of various mathematical models of contact. To provide an example, we consider a boundary value problem which describes the equilibrium of a viscoelastic body in contact with an elastic-rigid foundation. We list the assumptions on the data and derive both the primal and the dual variational formulation of the problem. Then, we state and prove existence, uniqueness and convergence results. We also provide the link between the two formulations, together with their mechanical interpretation.