He was at the tail end of the Romantics and the beginning of the Modernists, but he didn't fully embrace either movement--you could say he unconsciously used elements of both movements, but I wouldn't say he was in full swing with either of them. He was extremely important to the rise of more American poetry, though.
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Robert Frost wrote most of his poetry in the early 20th century, specifically from the late 1910s to the 1960s. He was a prominent American poet known for his rural themes and use of colloquial language.
Contemporary, as applied to poets, means still alive and writing today; by that standard, Frost (who died in 1963) can no longer be considered a contemporary poet.
However, if your teacher or professor is using contemporary to mean poets of the 20th and 21st century, then Frost would qualify. So, it's best to ask which definition is intended.