Get Linked Contacts

I’d like to be able to get a list of linked contacts for a contact. We have 0 to x number of linked contacts for our ‘properties/contacts’. Is there a way to get the linked contact details?

If I do a query of the properties/contacts added in the last year, I get a list of properties/contacts. Within that list I’d like to get a linked contact identifier so that I can then do a lookup of the linked contact.

Is this possible?

Linked Contacts can be accessed by the XML/RPC API