We present theory of dc Josephson effect in contacts between Fe-based and spin-singlet $s$-wave superconductors. The method is based on the calculation of temperature Greens function in the junction within the tight-binding model. We calculate the phase dependencies of the Josephson current for different orientations of the junction relative to the crystallographic axes of Fe-based superconductor. Further, we consider the dependence of the Josephson current on the thickness of an insulating layer and on temperature. Experimental data for PbIn/Ba$_{1-x}$K$_{x}$(FeAs)$_2$ point-contact Josephson junctions are consistent with theoretical predictions for $s_{pm}$ symmetry of an order parameter in this material. The proposed method can be further applied to calculations of the dc Josephson current in contacts with other new unconventional multiorbital superconductors, such as $Sr_2RuO_4$ and superconducting topological insulator $Cu_xBi_2Se_3$.
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