Previous research on intergroup relations between racial groups primarily focused on relations between Whites and various ethnic minority groups, studies on relations between ethnic minorities have been neglected and underexamined (Bikmen, 2011). Allport’s (1954) intergroup contact theory suggested that when the groups in contact are perceived to have similar status, contact could lead to reduced prejudice and improved intergroup relations. Asian Americans and African Americans occupy different status positions on the U.S. racial hierarchy. Although their relative status positions are important factors to consider in understanding their evaluations and interactions with each other, the influence of racial psychological factors are also important to consider because they may influence how status is perceived. Thus, the current study investigated how racial socialization, racial identity, and racial stereotypes influence contact between Asian Americans and African Americans. U.S.-born Asian American (N = 190) and African American (N = 304) adults completed an online survey containing a demographic information sheet, the Racial Socialization Influences Scale (Harrell, 1997), the People of Color Racial Identity Attitudes Scale (Helms, 1995), the Negative Attitude Toward Asians Scale (Ho & Jackson, 2001), the Anti-Black Scale (Katz & Hass, 1988), the Intergroup Contact Measure (Stathi & Crisp, 2010), and the Behavioral Intentions Scale (Esses & Dovidio, 2002). Results from multivariate multiple regression analyses suggested that racial socialization, particularly exposure to racially diverse environments, was positively related to the frequency and quality of contact, as well as willingness to engage in future contact for both Asian Americans and African Americans; whereas race-related discussions was associated with African Americans’ endorsement of Asian stereotypes. In addition, the study showed that racial identity schemas partially mediated the relationship between racial socialization and intergroup contact, and the relationship between racial socialization and racial stereotypes. Finally, findings revealed that African Americans reported more willingness to engage in future contact with Asian Americans than Asian Americans reported with African Americans. Discussions included methodological limitations, and implications for research and practice.