Rigidbody object intersection

hi i have several objects in a 2d game im making that are supposed bounce off each other in the x,y directions.

when you click on the first object it is set to 'is kinematic' in the rigidbody then it moves to the center of the screen using Vector3.Lerp. any other objects you move towards the center with Vector3.Lerp are supposed to bounce off the one in the center and eachother, what im finding however is that they all move into the center and overlap. im guessing its because Vector.Lerp so is there a way i can do the same thing through the rigidbody physics?