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The classical problem of indentation on an elastic substrate has found new applications in the field of the Atomic Force Microscopy. However, linearly elastic indentation models are not sufficiently accurate to predict the force-displacement relationship at large indentation depths. For hyperelastic materials, such as soft polymers and biomaterials, a nonlinear indentation model is needed. In this paper, we use second-order elasticity theory to capture larger amplitude deformations and material nonlinearity. We provide a general solution for the contact problem for deformations that are second-order in indentation amplitude with arbitrary indenter profiles. Moreover, we derive analytical solutions by using either parabolic or quartic surfaces to mimic a spherical indenter. The analytical prediction for a quartic surface agrees well with finite element simulations using a spherical indenter for indentation depths on the order of the indenter radius. In particular, the relative error between the two approaches is less than 1% for an indentation depth equal to the indenter radius, an order of magnitude less than that observed with models which are either first-order in indentation amplitude or those which are second-order in indentation amplitude but with a parabolic indenter profile.