Yes, there should be nothing to prevent you from casting Contingency on a familiar or animal companion with the share spells ability. But could you have a contingency spell on you AND your familiar/animal companion at the same time? It says you can only have one contingency spell active at a time, but does that mean max one contingency on each character or one contingency per spell caster?
If you can't cast contingency on you and your familiar, could you cast contingency on yourself, and have another spellcaster cast contingency on you too?
