This paper addresses physically-based simulation of human fingers for Virtual Reality applications with haptic feedback. Deformation and contact models are based on Finite Element Method. We show that with good assumptions for the Finite Element model and with a corotational approach, we can achieve virtual fingers to perform an interactive grasp task. We also show that thanks to the Gauss-Seidel type resolution method we can speed up the CPU time for complex multi-contact simulations with friction. We describe preliminary results in 2D for grasping rigid objects with deformable fingers in real-time.