diff --git a/docs/modules/rbda.rst b/docs/modules/rbda.rst
index ab9721027..a6033f060 100644
--- a/docs/modules/rbda.rst
+++ b/docs/modules/rbda.rst
@@ -11,6 +11,8 @@ This module provides a set of algorithms for rigid body dynamics.
     aba
     collidable_points
     contacts.soft
+    contacts.rigid
+    contacts.relaxed_rigid
     crba
     forward_kinematics
     jacobian
@@ -30,6 +32,14 @@ Contact Models
     :members:
     :no-index:
 
+.. automodule:: jaxsim.rbda.contacts.rigid
+    :members:
+    :no-index:
+
+.. automodule:: jaxsim.rbda.contacts.relaxed_rigid
+    :members:
+    :no-index:
+
 Utilities
 ~~~~~~~~~