I had this error too. I find that if you open up contact-form-7/includes/controller.php and change line 251-252 FROM:
wp_enqueue_script( 'contact-form-7', wpcf7_plugin_url( 'scripts.js' ),
array( 'jquery', 'jquery-form' ), WPCF7_VERSION, $in_footer );
TO:
wp_enqueue_script( 'contact-form-7', wpcf7_plugin_url( 'scripts.js' ),
array( ), WPCF7_VERSION, $in_footer );
This makes the problem go away. Hopefully nothing bad will happen in Contact Form 7…