I have defined contact between two bodies present in different template. In the contact definition, 'I body' is defined as solid present in template and 'J Matching name' is provided as the matching name of the output communicator in the other template with mount type and having value as name of other body.
The new contact definition user defined element, along with separate subsystem support for the contact parameters (i.e. an extended version of the existing contact_array UDE in
A/View) and the introduction of a communicator type “contact_solid” allows the user to pre-define potential contact solids in the template, and have them automatically attach to contact partners in other templates or assembly objects (like the road) in an automated or semi-automated fashion."
It's available in A/Car since the 2014 release; you can download some application examples from the knowledge base.
In template builder it's: Build -> Contact Definitions