First write some queries that show all contacts for company X. Then, once you can view all of the contacts, check to make sure you can easily change X to Y to view a whole new set of contacts/company. I'd attempt to help more, but you really didn't provide enough information yet. Once you've got the query written, then basing your report recordset on that query should give you the results your looking for.
SELECT * FROM Contacts WHERE CompanyID = X
Depending on how youre going to be printing/displaying these forms you might need to create a small form to pass the X variable to the report/query. Hope that helps...