Only loads on the contact template page

First a bit of advise (since the solution is based on it) – always “enqueue” your scripts, don’t just add them in the footer. Read this, for example .
Now the solution for loading scripts on specific template, since this is what you asked for:

function enqueue_themescrits()
{
    if ( is_page_template('contact.php') ) { //the file your contact page uses
         wp_register_script( 'google_maps', 'http://maps.google.com/maps/api/js?v=3&sensor=false' );
         wp_enqueue_script( 'google_maps' );
    }
    //Your other enqueued scripts

}
add_action( 'wp_enqueue_scripts', 'enqueue_themescrits' );

EDIT: add this to your functions.php