A three-dimensional parametrized finite element model is established for the nonlinear analysis of the hydraulically expanded tube-to-tubesheet joint. Distribution of the residual contact pressure on the contact surface between the tube and the tubesheet is investigated. It is found that sealing circular bands exist on the contact surface which enhance the sealing of the joint since the residual contact pressures on the sealing circular bands are higher than on other positions. The sealing circular bands are located close to the two ends of the hole when it is not grooved, but they are located at the two brinks of the groove for a grooved hole and in the latter case, the residual contact pressures are even higher, reflecting that the joint with a grooved tube-sheet hole is more capable of sealing. Experiments and finite element calculations for the pull-out force of the joint are also performed for different expansion pressures and groove widths. Results show that with the increase of the groove width, the measured pull-out force increases significantly and becomes larger and larger than the calculated one, which is owing to the scratch on the contact surface between the tube and tubesheet.