The Pad Advance Procedure should solve your issue.
Contact point means the point in the lever's throw at which the brake begins to engage.
If your contact point is too close to the bar and your brake has a contact adjustment, shifting that to the minimum setting would be the first thing to check.
If it is still too close to the bar, performing the pad advance procedure would be the next thing to try. Lastly, if pad advance does not fix the issue, bleeding the system would be the final recommendation. A detailed explanation can be found in our SRAM brake manual.