I wear contacts and I've never really had any mascara really bother them but I use Benefits Badgal Lash and it's an amazing product, it really seperates the lashes and doesn't flake.
Also, using a mascara primer really helps mascara from flaking and getting in your eyes. Any drug store one will work fine, like Loreal or Maybelline's XXL pro--it's one of my absolute favorite mascaras!
If you have sensetive eyes, your best bet is probably a waterproof mascara, as eyes tend to water after inserting your contacts. Also, make sure and try to put your contacts in AFTER putting on mascara, as it is very easy to smear mascara onto your contact lenses.
Here is my favorite waterproof mascara, the Blinc Kiss Me Mascara . It never sumdges or flakes, which I really like about it.
If you like brown mascara, my other favorite waterproof mascara is the Dior DiorShow Waterproof Mascara. It also comes in a highly pigmented black and royal/cobalt blue. This mascara also never smudges or flakes, but make sure to replace it every 4-6 months.
Hope that this helps!
Lancome makes great makeup products and they have a mascara called "DÉFINICILS - High Definition Mascara" that should work great for you. Be sure to put your contact lenses in before applying the mascara. By the way, this mascara has been Ophthalmologist-tested, is fragrance-free and is suitable for contact lens wearers.
You can find the mascara at: http://sephora.com/browse/product.jhtml?id=P54450&
I hope this helps you.
I am a contact-lens wearer and I haven't really had much of a problem with mascaras and them. But I especially would recommend Maybelline Falsies for a fun look (that also won't hurt your eyes and mess up your contacts) and then for like a nice, natural daytime looks that definitely won't bother your eyes, I would recommend Korres mascara (see here: http://sephora.com/browse/product.jhtml?id=P199105
For contact wearers DO NOT use a waterproof mascara, or a waterproof eye liner. I recommend the DiorShow Extase Mascara. You want to keep your eyes as moist as possible for your contacts and you don't want your mascara or liner to repel that water in your eye. It will give you plenty of volume and you can layer this mascara easily.