diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs
index 3f569b200..0f841d89a 100644
--- a/src/geometry/contact_pair.rs
+++ b/src/geometry/contact_pair.rs
@@ -327,6 +327,11 @@ impl SolverContact {
             self.restitution >= 1.0
         }
     }
+
+    /// The index of the manifold contact used to generate this solver contact.
+    pub fn contact_id(&self) -> u8 {
+        self.contact_id
+    }
 }
 
 impl Default for ContactManifoldData {