Hi Donnamarie,
I wear contacts and thus wear waterproof mascara since I often need to add drops to my eyes, and also don't want any mascara running into my eyes.
What I have found to work well is the Maybelline Volume Express - make sure to get Waterproof. Since it is waterproof, I typically use a gel style baby oil (just a small drop) and rub over my eyes to remove it. (Actually kinda moisturizes at the same time).
Hope that helps ;-)