collisions

i have an object with a collider and a rigidbody and another object with a few colliders and a rigidbody, when the first object collides with with second object it goes flying away from the second object, i tried using constraints but if i check all the boxes the first object goes straight through and doesnt collide but if i leave any boxes unchecked it bounces off. is there a way to make it just hit it and not be able to go through but not move when it collides?