Learn Hardcore Spanish (Latin America): Contemplamos la escultura durante la visita guiada. - We contemplate the sculpture during the guided tour.

In Spanish, the verb ending often tells you who the subject is.
Contemplamos has the -amos ending, which matches nosotros for an -ar verb like contemplar.

So:

(Nosotros) contemplamos = we contemplate / we contemplated

Spanish often leaves out subject pronouns when they are not needed, because the verb already gives that information.

Is contemplamos present tense or past tense?

It can be either one:

present: we contemplate
preterite: we contemplated

This happens because for many -ar verbs, the nosotros form is the same in the present and the preterite.

Examples:

Contemplamos la escultura cada vez que venimos. = present
Contemplamos la escultura ayer. = preterite

So you usually need context to know which tense is meant.

What is the difference between contemplar and mirar here?