The linearized equations of motion of a helicopter in contact with the ground have solutions which can be linearly stable or unstable, depending on the system parameters. The present study includes physical non-linearities in the helicopter model. This allows one to determine if a steady-state response exists and, if so, what the frequency and amplitude of the oscillations will be. In this way, one can determine how serious the linearly unstable operating regime is and whether destructive oscillations are possible when the system is in the linearly stable regime. The present analysis applies to helicopters having fully articulated rotors.