Please reply with a sketch of the parts and the boundary conditions.

If the substrate is a cube where the +Z face is going to be indented, then you can use a Fixed Support on the two XZ sides of the cube.

On the flat back end of the indenter, insert a Translational Joint. Apply a Joint Load of 2N.  The tip of the indenter should have a small radius at the tip, not a perfectly sharp tip. That tip should be exactly tangent to the cube so that the frictional contact between the indenter and cube is initally closed. Insert a Contact Tool to verify the Initial Contact Status.