A linearized inverse scattering method, so called the Kirchhoff inversion, is formulated in time domain for SH-waves measured by a contact ultrasonic transducer and tested using experimental data. The data for reconstruction are experimentally obtained by measuring ultrasonic echoes from artificial flaws in steel plate specimens. For an efficient and accurate data collection, a contact SH-wave linear array transducer is used. The shapes of the artificial flaws are reconstructed by the Kirchhoff inversion and the conventional SAFT (Synthetic Aperture Focusing Technique) using the waves from a single ray path. Comparison of the two methods shows that the Kirchhoff inversion works well for experimental data and outperforms SAFT although only an illuminated portion of the flaw boundaries is reconstructed by either method. In order to gain more information on the flaw boundaries, the Kirchhoff inversion which takes into account multiple ray paths is also tested with the same experimental data. As a result, it is shown that a larger part of the flaw boundaries can be visualized by considering the multiple ray paths.