Here's my thought on it, based on David's response and thinking about this through the weekend:
The process for reCaptcha I think is basically this: Assign an error checking value so that it defaults to an error, load/show the reCaptcha, enter the data, submit, and reset the error check if all of the data was entered and is correct. So, when the menu loads, the contact_us error checking is initiated (again, if not quite right, I think the process I am describing will work itself out) resetting any value that identified a satisfactory entry. As for being on the contact us page, there probably is something associated with what David is describing above; however, there may be some other affects of changing the form action...
Based on the report of the OP, that removing the contact_us from the menu bar allows the reCaptcha to be seen on the contact_us page, and the fact that after submission of the reCaptcha from the menu_bar that it appears that the user entered the wrong reCaptcha information, my recommendation would be in the tpl_mega_menu (or wherever the contact_us section is loaded by the template/menu system) to compare the current page's main_page value to either the contact_us page or (and I forget if a successful result goes to another page) the successful contact_us page and if the main_page equals either of those, to not display the contact_us section in the menu...
Make sense? Afterall, if on the contact_us page, why have a second contact_us option that mimics the current page?
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