If it's a reference frame you want two volumes that are connected: so the common face will be curved to fit the "red" cylinder. In DM you want a multibody part and from SpaceClaim "share topology". You'll finish up with an interior surface. If you want sliding mesh then the above contact is correct assuming the "blue" end has the same shape as the red face.
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New Post - Reply To: Creating a contact pair between to geometries/fluids in Fluent