In most studies I reviewed on the static behavior of piled raft foundations, this interaction was considered to be frictionless (smooth). I invite you to visit my profile and find the papers on this topic. There is always a numerical finite element modeling section that explains these interaction and presents a review of previous studies in this matter:
Abbasali Taghavi Ghalesari
You can use the hard contact option in ABAQUS if you are modeling a static (and symmetric) loading condition because, otherwise, the contribution of the frictions would be prominent and must be incorporated into the analysis.