The knee adduction moment is associated with the progression of knee osteoarthritis (OA). The adduction moment reflects the net effect of muscles, passive tissues and bone-on-bone contact forces. Medial compartment OA is more common than lateral and therefore our ability to correctly partition bone-on-bones forces across the medial and lateral compartments is key to understanding mechanical factors associated with the onset and progression of knee OA. In this technical brief we present an efficient one-step moment balancing algorithm linking the sagittal and frontal planes in the determination of musculotendon forces. Novel to the one-step approach is the introduction of a penalty function limiting total compressive force from acting in the lateral compartment when the internal moment is net abduction (i.e., external knee adduction). Medial and lateral knee contact forces were computed using the one-step moment balancing algorithm for 10 subjects walking at a self-selected pace and compared to values determined using a well-established two-step frontal moment balancing approach. Overall, average peak differences in magnitude and timing were small and the ensemble-averaged contact force profiles were similar between methods. The only statistical difference was slightly larger (0.2 BWs) peak medial contact force for the one-step method during the first half of stance, however these differences are small relative to peak values and would not likely alter interpretation of the data. The 1-step moment balancing method is a more efficient methodology for computing medial and lateral knee contact forces that can be used in place of two-step frontal plane moment balancing.