Let $\sigma$ be a unimodular Pisot substitution over a $d$ letter alphabet and let $X_1,...,X_d$ be the associated Rauzy fractals. In the present paper we want to investigate the boundaries $\partial X_i$ ($1\le i\le d$) of these fractals. To this matter we define a certain graph, the so-called contact graph$𝒞$ of $\sigma$. If $\sigma$ satisfies a combinatorial condition called the super coincidence condition the contact graph can be used to set up a self-affine graph directed system whose attractors are certain pieces of the boundaries $\partial X_1,...,\partial X_d$. From this graph...