String listViewId = ‘AnyContact listview ID’;

       System.debug('The listViewId-->' + listViewId);

       HttpRequest req = new HttpRequest();

       HttpResponse res = new HttpResponse();

       Http http = new Http();

           String endPoint = URL.getSalesforceBaseUrl().toExternalForm()+'/services/data/v45.0/sobjects/Contact/listviews/'+listViewId+'/describe';

           System.debug('The End Point-->' + endPoint);

           req.setEndpoint(endPoint);

           req.setHeader('Authorization', 'Bearer ' + getUserSession());

           req.setHeader('Content-Type', 'application/json');

           req.setMethod('GET');

           req.setTimeout(20000);

           String resp, query;

               res = http.send(req);

               resp = res.getBody();

               ListViewOption lt = (ListViewOption)JSON.deserialize(resp, ListViewOption.class);

               query = lt.query;

           List<sObject> contacts = Database.query(query);

The toughest part is getting the Session ID from lightning Component. The lightning component call to Apex method does not support UserInfo.getSessionID() method. So we need to build a work around to bring Session ID.

We can build a VF page and call the page and getbody of the page from Apex code under Aura enabled method. Now we are able to get the Session ID from VF page.