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Probably not what is being asked for, but Stanislaw Lem's novel "Fiasco" is entirely about First Contact, instigated by us in the future when we are more scientifically powerful. As you might guess from the title, it's not a feel-good story. It does bring up some interesting ideas, like the "window of opportunity" when trying to make contact (in a nutshell, civilizations only broadcast their presence for a century or two before they wise up and go dark to avoid contact with more powerful aliens. In most cases, it takes a long time for the signals to reach Earth and then for us to reach them, and in that time the aliens can become sufficiently advanced to be a threat to the visiting humans. Ergo, there's only a small time in which you can detect them and then reach them while maintaining the upper hand).
His earlier book "Eden" also covers this topic, but in the more usual space-opera type fashion. "Solaris", "The Invincible" and "His Master's Voice" also revolve around this theme. Of course, the books are mostly about us and how we deal with these situations rather than about "them".
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