How to make a solid body not pass through another body?

Hello All,

I am running a static simulation involving multiple bodies. But when the bodies deform, one body is passing through another body as if they were not solids. How can I prevent it so that after the deformed body touches another body, it stops there instead of going through it? In other words, how can I make a Solid-body solid?

I have attached a reference picture below.

SolidworksSimulation