Contract language does not need to be complicated or legalistic. In fact the simpler and plainer the language, the more easily the contract can be understood. Misunderstandings will also be less likely. If you use a lawyer to draft a contract, ask them to use simple, plain English and ask them to explain anything that you don’t understand.
For example contracts often use language such as ‘the principal’ and ‘the contractor’. This is often done for convenience in writing standard form contracts. However, you might find it simpler to use We/Us/Our for referring to the principal and You/Your for the contractor to make it more easily read.