diff --git a/crates/bevy_xpbd_3d/snapshots/bevy_xpbd_3d__tests__cubes_simulation_is_deterministic_across_machines.snap b/crates/bevy_xpbd_3d/snapshots/bevy_xpbd_3d__tests__cubes_simulation_is_deterministic_across_machines.snap
index f31c49c3..c465799e 100644
--- a/crates/bevy_xpbd_3d/snapshots/bevy_xpbd_3d__tests__cubes_simulation_is_deterministic_across_machines.snap
+++ b/crates/bevy_xpbd_3d/snapshots/bevy_xpbd_3d__tests__cubes_simulation_is_deterministic_across_machines.snap
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         Transform {
             translation: Vec3(
-                -2.1040337,
-                4.499812,
-                -4.583855,
+                -2.0982618,
+                4.4999485,
+                -4.5954814,
             ),
             rotation: Quat(
-                8.291803e-5,
-                0.07558479,
-                1.48603785e-5,
-                0.9971394,
+                0.0008569843,
+                0.07476338,
+                0.0003668467,
+                0.99720085,
             ),
             scale: Vec3(
                 1.0,
@@ -860,15 +860,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.0399349,
-                4.4998903,
-                -1.9808781,
+                -2.0418162,
+                4.499855,
+                -1.9817297,
             ),
             rotation: Quat(
-                8.772537e-6,
-                0.022853626,
-                -2.8496009e-8,
-                0.9997388,
+                3.1433286e-5,
+                0.023295468,
+                4.817175e-6,
+                0.9997286,
             ),
             scale: Vec3(
                 1.0,
@@ -883,15 +883,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.2919278,
-                4.4999065,
-                0.1247377,
+                -2.2922916,
+                4.4996166,
+                0.123583816,
             ),
             rotation: Quat(
-                2.7425397e-6,
-                0.00027707758,
-                -9.8485025e-6,
-                0.99999994,
+                -0.00014370061,
+                0.0006513288,
+                -5.3522206e-5,
+                0.99999976,
             ),
             scale: Vec3(
                 1.0,
@@ -906,15 +906,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -1.9134618,
-                4.499895,
-                2.9461567,
+                -1.9065185,
+                4.499897,
+                2.948519,
             ),
             rotation: Quat(
-                -7.552541e-8,
-                0.16723502,
-                -1.7282146e-5,
-                0.98591703,
+                7.2758303e-6,
+                0.16466804,
+                -1.0518872e-5,
+                0.98634905,
             ),
             scale: Vec3(
                 1.0,
@@ -929,15 +929,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.10139636,
-                4.499856,
-                -4.2290635,
+                0.084558636,
+                4.499845,
+                -4.2212543,
             ),
             rotation: Quat(
-                4.1247542e-5,
-                0.012372264,
-                -1.264204e-5,
-                0.99992347,
+                5.0826264e-5,
+                0.0032887203,
+                -1.1353104e-6,
+                0.9999946,
             ),
             scale: Vec3(
                 1.0,
@@ -952,15 +952,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.046615515,
-                4.499892,
-                -1.9993606,
+                0.046418056,
+                4.4998946,
+                -1.9996858,
             ),
             rotation: Quat(
-                1.31747875e-5,
-                0.032713663,
-                -1.9446587e-5,
-                0.99946475,
+                1.8233854e-5,
+                0.033099268,
+                -2.5970241e-5,
+                0.99945205,
             ),
             scale: Vec3(
                 1.0,
@@ -975,15 +975,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.10879148,
-                4.4999266,
-                0.14372009,
+                0.115307376,
+                4.499905,
+                0.15320742,
             ),
             rotation: Quat(
-                1.1733811e-5,
-                0.06736381,
-                -9.170773e-6,
-                0.99772847,
+                1.3577231e-5,
+                0.06730782,
+                -3.2129797e-6,
+                0.9977323,
             ),
             scale: Vec3(
                 1.0,
@@ -998,15 +998,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.15608701,
-                4.4999433,
-                2.5169132,
+                0.1633159,
+                4.4999037,
+                2.5240226,
             ),
             rotation: Quat(
-                -6.910158e-6,
-                0.1279863,
-                -2.1175604e-6,
-                0.99177593,
+                5.585338e-6,
+                0.12953368,
+                -8.621638e-6,
+                0.991575,
             ),
             scale: Vec3(
                 1.0,
@@ -1021,15 +1021,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.4965358,
-                4.4999065,
-                -4.248469,
+                2.4627173,
+                4.523821,
+                -4.223433,
             ),
             rotation: Quat(
-                -7.980201e-6,
-                0.10847425,
-                -2.2054703e-6,
-                0.99409926,
+                0.002565093,
+                0.12797171,
+                -0.0035405958,
+                0.9917682,
             ),
             scale: Vec3(
                 1.0,
@@ -1044,15 +1044,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.3044858,
-                4.499934,
-                -2.039,
+                2.2974544,
+                4.4999475,
+                -2.0317554,
             ),
             rotation: Quat(
-                -3.4714603e-6,
-                0.034224026,
-                -5.390694e-6,
-                0.9994142,
+                7.264934e-6,
+                0.04885285,
+                -1.3812624e-5,
+                0.998806,
             ),
             scale: Vec3(
                 1.0,
@@ -1067,15 +1067,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.2902527,
-                4.499874,
-                0.18958372,
+                2.2948377,
+                4.499882,
+                0.19410415,
             ),
             rotation: Quat(
-                -1.8717392e-6,
-                0.069902435,
-                -5.448829e-6,
-                0.9975538,
+                -1.9167567e-6,
+                0.07155434,
+                -2.2111035e-6,
+                0.9974367,
             ),
             scale: Vec3(
                 1.0,
@@ -1090,15 +1090,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.3585987,
-                4.499913,
-                2.344395,
+                2.3714726,
+                4.4999046,
+                2.3423145,
             ),
             rotation: Quat(
-                -1.38780115e-5,
-                0.104511954,
-                -1.4291491e-5,
-                0.99452364,
+                3.7926222e-6,
+                0.105108425,
+                -1.8758468e-5,
+                0.99446076,
             ),
             scale: Vec3(
                 1.0,
@@ -1113,15 +1113,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -4.4633474,
-                6.4998736,
-                -4.0632877,
+                -4.4638953,
+                6.499873,
+                -4.0630817,
             ),
             rotation: Quat(
-                -3.2037321e-6,
-                -0.039527066,
-                -1.0842633e-5,
-                0.9992185,
+                -1.0684977e-6,
+                -0.03946447,
+                -8.834009e-6,
+                0.99922097,
             ),
             scale: Vec3(
                 1.0,
@@ -1136,15 +1136,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -4.5414343,
-                6.499908,
-                -1.8388224,
+                -4.541287,
+                6.499911,
+                -1.8390753,
             ),
             rotation: Quat(
-                -1.7965837e-6,
-                -0.075223595,
-                4.8294905e-6,
-                0.9971667,
+                -2.7836097e-6,
+                -0.07500307,
+                3.1182046e-6,
+                0.9971833,
             ),
             scale: Vec3(
                 1.0,
@@ -1159,15 +1159,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -4.4133406,
-                6.4999156,
-                0.5323253,
+                -4.4054413,
+                6.499905,
+                0.5342264,
             ),
             rotation: Quat(
-                7.1565705e-6,
-                -0.029635495,
-                -8.7967455e-6,
-                0.9995608,
+                1.0029094e-5,
+                -0.028178202,
+                -8.311371e-7,
+                0.9996029,
             ),
             scale: Vec3(
                 1.0,
@@ -1182,15 +1182,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -4.4521794,
-                6.4998703,
-                2.7196393,
+                -4.4478917,
+                6.4998593,
+                2.6989908,
             ),
             rotation: Quat(
-                -2.5847663e-5,
-                0.018090103,
-                -5.8681953e-6,
-                0.9998364,
+                1.7115982e-6,
+                0.015391452,
+                6.6103903e-6,
+                0.99988157,
             ),
             scale: Vec3(
                 1.0,
@@ -1205,15 +1205,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.015195,
-                6.4997816,
-                -4.391034,
+                -2.0118814,
+                6.4996743,
+                -4.408518,
             ),
             rotation: Quat(
-                8.634205e-5,
-                0.0054050996,
-                1.061444e-5,
-                0.9999854,
+                0.0008833011,
+                0.0048433905,
+                0.00030778215,
+                0.99998784,
             ),
             scale: Vec3(
                 1.0,
@@ -1228,15 +1228,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.066568,
-                6.4998965,
-                -2.0410511,
+                -2.0685985,
+                6.4998636,
+                -2.0412266,
             ),
             rotation: Quat(
-                9.750119e-6,
-                -0.01672879,
-                -3.2366404e-6,
-                0.99986005,
+                3.2721695e-5,
+                -0.016413745,
+                6.26121e-7,
+                0.9998653,
             ),
             scale: Vec3(
                 1.0,
@@ -1251,15 +1251,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.1620016,
-                6.4999013,
-                -0.009376085,
+                -2.1621423,
+                6.4998426,
+                -0.009622783,
             ),
             rotation: Quat(
-                6.3031325e-7,
-                -0.03387773,
-                -1.3532226e-5,
-                0.999426,
+                -6.4502156e-6,
+                -0.03323228,
+                -4.2704098e-5,
+                0.99944764,
             ),
             scale: Vec3(
                 1.0,
@@ -1274,15 +1274,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                -2.4230695,
-                6.4998817,
-                2.3860047,
+                -2.4178045,
+                6.4998765,
+                2.3701563,
             ),
             rotation: Quat(
-                -7.3331294e-6,
-                0.020392325,
-                -6.328518e-6,
-                0.99979204,
+                3.315791e-6,
+                0.01670394,
+                -1.0139086e-5,
+                0.99986047,
             ),
             scale: Vec3(
                 1.0,
@@ -1297,15 +1297,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.1737153,
-                6.4998555,
-                -4.2430644,
+                0.15457933,
+                6.4998455,
+                -4.2195,
             ),
             rotation: Quat(
-                4.434232e-5,
-                -0.010705035,
-                -1.7549892e-5,
-                0.9999427,
+                5.3893982e-5,
+                -0.009229558,
+                -5.5537885e-6,
+                0.9999574,
             ),
             scale: Vec3(
                 1.0,
@@ -1320,15 +1320,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.017470408,
-                6.499897,
-                -2.112041,
+                0.020253193,
+                6.4998994,
+                -2.1103811,
             ),
             rotation: Quat(
-                7.738846e-6,
-                -0.0091372,
-                -1.9105904e-5,
-                0.9999583,
+                1.13126125e-5,
+                -0.008870928,
+                -2.4882505e-5,
+                0.99996066,
             ),
             scale: Vec3(
                 1.0,
@@ -1343,15 +1343,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.33719364,
-                6.4999237,
-                0.14164668,
+                0.3434779,
+                6.4999046,
+                0.15167767,
             ),
             rotation: Quat(
-                1.2984191e-5,
-                0.003949311,
-                -1.2300544e-5,
-                0.9999922,
+                1.3513705e-5,
+                0.004419541,
+                -5.4249876e-6,
+                0.9999902,
             ),
             scale: Vec3(
                 1.0,
@@ -1366,15 +1366,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                0.040235426,
-                6.499908,
-                2.3660412,
+                0.045836154,
+                6.499876,
+                2.372979,
             ),
             rotation: Quat(
-                -9.923653e-6,
-                0.080303445,
-                -1.04829084e-7,
-                0.99677044,
+                3.31346e-6,
+                0.080713205,
+                -7.773753e-6,
+                0.99673736,
             ),
             scale: Vec3(
                 1.0,
@@ -1389,15 +1389,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.700329,
-                6.499869,
-                -4.5122986,
+                2.69063,
+                6.5255804,
+                -4.4832582,
             ),
             rotation: Quat(
-                -7.703569e-6,
-                0.329856,
-                -1.0006887e-5,
-                0.94403124,
+                0.0036721418,
+                0.35055444,
+                -0.0024414826,
+                0.93653196,
             ),
             scale: Vec3(
                 1.0,
@@ -1412,15 +1412,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.4898252,
-                6.4999285,
-                -1.9827287,
+                2.4816194,
+                6.5043006,
+                -1.9823791,
             ),
             rotation: Quat(
-                -7.970375e-8,
-                0.030127004,
-                -7.457347e-6,
-                0.99954605,
+                -0.00030939886,
+                0.041006003,
+                -0.0017860039,
+                0.99915725,
             ),
             scale: Vec3(
                 1.0,
@@ -1435,15 +1435,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.3679268,
-                6.4998736,
-                0.054523207,
+                2.3744953,
+                6.4998674,
+                0.0644396,
             ),
             rotation: Quat(
-                -4.5444162e-6,
-                0.020520307,
-                -8.355963e-6,
-                0.9997894,
+                7.2211146e-6,
+                0.020571178,
+                -3.6073593e-6,
+                0.9997884,
             ),
             scale: Vec3(
                 1.0,
@@ -1458,15 +1458,15 @@ expression: bodies
         ),
         Transform {
             translation: Vec3(
-                2.463651,
-                6.499916,
-                2.4235425,
+                2.472841,
+                6.4999046,
+                2.422926,
             ),
             rotation: Quat(
-                -1.1169432e-5,
-                0.17963791,
-                -1.8230827e-5,
-                0.9837328,
+                5.2217392e-6,
+                0.17963935,
+                -2.0568676e-5,
+                0.9837325,
             ),
             scale: Vec3(
                 1.0,
diff --git a/src/components/mod.rs b/src/components/mod.rs
index a7178f71..101a9041 100644
--- a/src/components/mod.rs
+++ b/src/components/mod.rs
@@ -135,8 +135,6 @@ impl RigidBody {
 /// collisions or other constraints, or when gravity changes, or when the body's
 /// position, rotation, velocity, or external forces are modified.
 ///
-/// Note that sleeping can cause unrealistic behaviour in some cases.
-/// For example, removing the floor under sleeping bodies can leave them floating in the air.
 /// Sleeping can be disabled for specific entities with the [`SleepingDisabled`] component,
 /// or for all entities by setting the [`SleepingThreshold`] to a negative value.
 #[derive(Reflect, Clone, Copy, Component, Debug, Default, PartialEq, Eq, From)]
diff --git a/src/lib.rs b/src/lib.rs
index 9da7449f..a6de0c03 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -518,8 +518,9 @@ pub enum PhysicsSet {
 ///     3. Solve positional and angular constraints
 ///     4. Update velocities
 ///     5. Solve velocity constraints (dynamic friction and restitution)
-/// 3. Sleeping
-/// 4. Spatial queries
+/// 3. Report contacts (send collision events)
+/// 4. Sleeping
+/// 5. Spatial queries
 #[derive(SystemSet, Clone, Copy, Debug, PartialEq, Eq, Hash)]
 pub enum PhysicsStepSet {
     /// Responsible for collecting pairs of potentially colliding entities into [`BroadCollisionPairs`] using
@@ -531,6 +532,10 @@ pub enum PhysicsStepSet {
     ///
     /// See [`SubstepSet`] and [`SubstepSchedule`].
     Substeps,
+    /// Responsible for sending collision events and updating [`CollidingEntities`].
+    ///
+    /// See [`ContactReportingPlugin`].
+    ReportContacts,
     /// Responsible for controlling when bodies should be deactivated and marked as [`Sleeping`].
     ///
     /// See [`SleepingPlugin`].
diff --git a/src/plugins/contact_reporting.rs b/src/plugins/contact_reporting.rs
new file mode 100644
index 00000000..b5745848
--- /dev/null
+++ b/src/plugins/contact_reporting.rs
@@ -0,0 +1,79 @@
+//! Sends collision events and updates [`CollidingEntities`].
+//!
+//! See [`ContactReportingPlugin`].
+
+use crate::prelude::*;
+
+/// Sends collision events and updates [`CollidingEntities`].
+///
+/// The following collision events are sent each frame in [`PhysicsStepSet::ReportContacts`]:
+///
+/// - [`Collision`]
+/// - [`CollisionStarted`]
+/// - [`CollisionEnded`]
+pub struct ContactReportingPlugin;
+
+impl Plugin for ContactReportingPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_event::<Collision>()
+            .add_event::<CollisionStarted>()
+            .add_event::<CollisionEnded>();
+
+        let physics_schedule = app
+            .get_schedule_mut(PhysicsSchedule)
+            .expect("add PhysicsSchedule first");
+
+        physics_schedule.add_systems(report_contacts.in_set(PhysicsStepSet::ReportContacts));
+    }
+}
+
+/// A [collision event](Collider#collision-events) that is sent for each contact pair during the narrow phase.
+#[derive(Event, Clone, Debug, PartialEq)]
+pub struct Collision(pub Contacts);
+
+/// A [collision event](Collider#collision-events) that is sent when two entities start colliding.
+#[derive(Event, Clone, Debug, PartialEq)]
+pub struct CollisionStarted(pub Entity, pub Entity);
+
+/// A [collision event](Collider#collision-events) that is sent when two entities stop colliding.
+#[derive(Event, Clone, Debug, PartialEq)]
+pub struct CollisionEnded(pub Entity, pub Entity);
+
+/// Sends collision events and updates [`CollidingEntities`].
+pub fn report_contacts(
+    mut colliders: Query<&mut CollidingEntities>,
+    collisions: Res<Collisions>,
+    mut collision_ev_writer: EventWriter<Collision>,
+    mut collision_started_ev_writer: EventWriter<CollisionStarted>,
+    mut collision_ended_ev_writer: EventWriter<CollisionEnded>,
+) {
+    for ((entity1, entity2), contacts) in collisions.get_internal().iter() {
+        if contacts.during_current_frame {
+            collision_ev_writer.send(Collision(contacts.clone()));
+
+            // Collision started
+            if contacts.during_current_frame && !contacts.during_previous_frame {
+                collision_started_ev_writer.send(CollisionStarted(*entity1, *entity2));
+
+                if let Ok(mut colliding_entities1) = colliders.get_mut(*entity1) {
+                    colliding_entities1.insert(*entity2);
+                }
+                if let Ok(mut colliding_entities2) = colliders.get_mut(*entity2) {
+                    colliding_entities2.insert(*entity1);
+                }
+            }
+        }
+
+        // Collision ended
+        if !contacts.during_current_frame {
+            collision_ended_ev_writer.send(CollisionEnded(*entity1, *entity2));
+
+            if let Ok(mut colliding_entities1) = colliders.get_mut(*entity1) {
+                colliding_entities1.remove(entity2);
+            }
+            if let Ok(mut colliding_entities2) = colliders.get_mut(*entity2) {
+                colliding_entities2.remove(entity1);
+            }
+        }
+    }
+}
diff --git a/src/plugins/mod.rs b/src/plugins/mod.rs
index 707f8858..b59ad6ac 100644
--- a/src/plugins/mod.rs
+++ b/src/plugins/mod.rs
@@ -21,6 +21,7 @@
 //! - [`SubstepSchedule`] and [`SubstepSet`]
 
 pub mod broad_phase;
+pub mod contact_reporting;
 #[cfg(feature = "debug-plugin")]
 pub mod debug;
 pub mod integrator;
@@ -33,10 +34,11 @@ pub mod spatial_query;
 pub mod sync;
 
 pub use broad_phase::BroadPhasePlugin;
+pub use contact_reporting::*;
 #[cfg(feature = "debug-plugin")]
 pub use debug::*;
 pub use integrator::IntegratorPlugin;
-pub use narrow_phase::*;
+pub use narrow_phase::{contact_data::*, contact_query::*, NarrowPhaseConfig, NarrowPhasePlugin};
 pub use prepare::PreparePlugin;
 pub use setup::*;
 pub use sleeping::SleepingPlugin;
@@ -59,6 +61,7 @@ use bevy::prelude::*;
 /// [AABB](ColliderAabb) intersection checks.
 /// - [`IntegratorPlugin`]: Integrates Newton's 2nd law of motion, applying forces and moving entities according to their velocities.
 /// - [`NarrowPhasePlugin`]: Computes contacts between entities and sends collision events.
+/// - [`ContactReportingPlugin`]: Sends collision events and updates [`CollidingEntities`].
 /// - [`SolverPlugin`]: Solves positional and angular [constraints], updates velocities and solves velocity constraints
 /// (dynamic [friction](Friction) and [restitution](Restitution)).
 /// - [`SleepingPlugin`]: Controls when bodies should be deactivated and marked as [`Sleeping`] to improve performance.
@@ -197,6 +200,7 @@ impl PluginGroup for PhysicsPlugins {
             .add(BroadPhasePlugin)
             .add(IntegratorPlugin)
             .add(NarrowPhasePlugin)
+            .add(ContactReportingPlugin)
             .add(SolverPlugin)
             .add(SleepingPlugin)
             .add(SpatialQueryPlugin::new(self.schedule.dyn_clone()))
diff --git a/src/plugins/narrow_phase/mod.rs b/src/plugins/narrow_phase/mod.rs
index 5d3f7791..e96d78f1 100644
--- a/src/plugins/narrow_phase/mod.rs
+++ b/src/plugins/narrow_phase/mod.rs
@@ -1,11 +1,11 @@
-//! Computes contacts between entities and sends collision events.
+//! Computes contacts between entities.
 //!
 //! See [`NarrowPhasePlugin`].
 
-mod contact_data;
+pub(super) mod contact_data;
 pub mod contact_query;
 
-use bevy::utils::HashSet;
+use bevy::ecs::query::Has;
 pub use contact_data::*;
 pub use contact_query::*;
 
@@ -13,70 +13,49 @@ use crate::prelude::*;
 #[cfg(feature = "parallel")]
 use bevy::tasks::{ComputeTaskPool, ParallelSlice};
 
-/// Computes contacts between entities and sends collision events.
+/// Computes contacts between entities.
 ///
 /// Collisions are only checked between entities contained in [`BroadCollisionPairs`],
 /// which is handled by the [`BroadPhasePlugin`].
 ///
-/// The following collision events are sent each frame:
-///
-/// - [`Collision`]
-/// - [`CollisionStarted`]
-/// - [`CollisionEnded`]
+/// The results of the narrow phase are added into [`Collisions`].
 pub struct NarrowPhasePlugin;
 
 impl Plugin for NarrowPhasePlugin {
     fn build(&self, app: &mut App) {
-        app.add_event::<Collision>()
-            .add_event::<CollisionStarted>()
-            .add_event::<CollisionEnded>()
-            .init_resource::<NarrowPhaseConfig>()
+        app.init_resource::<NarrowPhaseConfig>()
             .init_resource::<Collisions>()
             .register_type::<NarrowPhaseConfig>();
 
-        let physics_schedule = app
-            .get_schedule_mut(PhysicsSchedule)
-            .expect("add PhysicsSchedule first");
-
-        physics_schedule.add_systems(
-            (
-                // Reset collision states before the narrow phase
-                (|mut collisions: ResMut<Collisions>| {
-                    collisions.iter_mut().for_each(|contacts| {
-                        contacts.during_previous_frame = contacts.during_current_frame;
-                        contacts.during_current_frame = false;
-                        contacts.during_current_substep = false;
-                    })
-                })
-                .after(PhysicsStepSet::BroadPhase)
-                .before(PhysicsStepSet::Substeps),
-                // Send collision events
-                send_collision_events
-                    .after(PhysicsStepSet::Sleeping)
-                    .before(PhysicsStepSet::SpatialQuery),
-            )
-                .chain(),
-        );
-
-        let substep_schedule = app
-            .get_schedule_mut(SubstepSchedule)
-            .expect("add SubstepSchedule first");
-
-        substep_schedule.add_systems(
-            (reset_substep_collision_states, collect_collisions)
-                .chain()
-                .in_set(SubstepSet::NarrowPhase),
-        );
-
-        // Remove collisions against removed colliders from `Collisions`
-        app.add_systems(
-            Last,
-            |mut removals: RemovedComponents<Collider>, mut collisions: ResMut<Collisions>| {
-                for removed in removals.iter() {
-                    collisions.remove_collisions_with_entity(removed);
-                }
-            },
-        );
+        // Manage collision states like `during_current_frame` and remove old contacts
+        // Todo: It would be nice not to have collision state logic in the narrow phase
+        app.get_schedule_mut(PhysicsSchedule)
+            .expect("add PhysicsSchedule first")
+            .add_systems(
+                (
+                    // Reset collision states before the substepping loop
+                    reset_collision_states
+                        .after(PhysicsStepSet::BroadPhase)
+                        .before(PhysicsStepSet::Substeps),
+                    // Remove ended collisions after contact reporting
+                    ((|mut collisions: ResMut<Collisions>| {
+                        collisions.retain(|contacts| contacts.during_current_frame)
+                    }),)
+                        .chain()
+                        .after(PhysicsStepSet::ReportContacts)
+                        .before(PhysicsStepSet::Sleeping),
+                )
+                    .chain(),
+            );
+
+        // Reset substep collision states and collect contacts into `Collisions`
+        app.get_schedule_mut(SubstepSchedule)
+            .expect("add SubstepSchedule first")
+            .add_systems(
+                (reset_substep_collision_states, collect_collisions)
+                    .chain()
+                    .in_set(SubstepSet::NarrowPhase),
+            );
     }
 }
 
@@ -103,18 +82,6 @@ impl Default for NarrowPhaseConfig {
     }
 }
 
-/// A [collision event](Collider#collision-events) that is sent for each contact pair during the narrow phase.
-#[derive(Event, Clone, Debug, PartialEq)]
-pub struct Collision(pub Contacts);
-
-/// A [collision event](Collider#collision-events) that is sent when two entities start colliding.
-#[derive(Event, Clone, Debug, PartialEq)]
-pub struct CollisionStarted(pub Entity, pub Entity);
-
-/// A [collision event](Collider#collision-events) that is sent when two entities stop colliding.
-#[derive(Event, Clone, Debug, PartialEq)]
-pub struct CollisionEnded(pub Entity, pub Entity);
-
 #[allow(clippy::too_many_arguments)]
 #[allow(clippy::type_complexity)]
 fn collect_collisions(
@@ -146,17 +113,15 @@ fn collect_collisions(
                         let position2 =
                             position2.0 + accumulated_translation2.copied().unwrap_or_default().0;
 
-                        let during_previous_frame = collisions
-                            .get_internal()
-                            .get(&(*entity1, *entity2))
-                            .map_or(false, |c| c.during_previous_frame);
+                        let previous_contact = collisions.get_internal().get(&(*entity1, *entity2));
 
                         let contacts = Contacts {
                             entity1: *entity1,
                             entity2: *entity2,
                             during_current_frame: true,
                             during_current_substep: true,
-                            during_previous_frame,
+                            during_previous_frame: previous_contact
+                                .map_or(false, |c| c.during_previous_frame),
                             manifolds: contact_query::contact_manifolds(
                                 collider1,
                                 position1,
@@ -191,17 +156,15 @@ fn collect_collisions(
                 let position2 =
                     position2.0 + accumulated_translation2.copied().unwrap_or_default().0;
 
-                let during_previous_frame = collisions
-                    .get_internal()
-                    .get(&(*entity1, *entity2))
-                    .map_or(false, |c| c.during_previous_frame);
+                let previous_contact = collisions.get_internal().get(&(*entity1, *entity2));
 
                 let contacts = Contacts {
                     entity1: *entity1,
                     entity2: *entity2,
                     during_current_frame: true,
                     during_current_substep: true,
-                    during_previous_frame,
+                    during_previous_frame: previous_contact
+                        .map_or(false, |c| c.during_previous_frame),
                     manifolds: contact_query::contact_manifolds(
                         collider1,
                         position1,
@@ -221,78 +184,39 @@ fn collect_collisions(
     }
 }
 
-fn reset_substep_collision_states(mut collisions: ResMut<Collisions>) {
-    for contacts in collisions.get_internal_mut().values_mut() {
-        contacts.during_current_substep = false;
-    }
-}
-
-/// Sends collision events and updates [`CollidingEntities`].
-fn send_collision_events(
-    sleeping: Query<(Ref<Position>, Ref<Rotation>)>,
-    mut colliders: Query<&mut CollidingEntities>,
+// TODO: The collision state handling feels a bit confusing and error-prone.
+//       Ideally, the narrow phase wouldn't need to handle it at all, or it would at least be simpler.
+/// Resets collision states like `during_current_frame` and `during_previous_frame`.
+pub fn reset_collision_states(
     mut collisions: ResMut<Collisions>,
-    mut collision_ev_writer: EventWriter<Collision>,
-    mut collision_started_ev_writer: EventWriter<CollisionStarted>,
-    mut collision_ended_ev_writer: EventWriter<CollisionEnded>,
+    query: Query<(Option<&RigidBody>, Has<Sleeping>)>,
 ) {
-    let mut ended_collisions = HashSet::<(Entity, Entity)>::new();
-
-    for ((entity1, entity2), contacts) in collisions.get_internal_mut().iter_mut() {
-        // Collision ended
-        if !contacts.during_current_frame {
-            // Keep the collision active if the bodies were colliding during the previous frame
-            // but neither body has moved, for example when they are sleeping.
-            if let Ok([(pos1, rot1), (pos2, rot2)]) = sleeping.get_many([*entity1, *entity2]) {
-                if !pos1.is_changed()
-                    && !rot1.is_changed()
-                    && !pos2.is_changed()
-                    && !rot2.is_changed()
-                {
-                    contacts.during_current_frame = true;
-                    continue;
-                }
-            }
-
-            ended_collisions.insert((*entity1, *entity2));
-
-            if let Ok(mut colliding_entities1) = colliders.get_mut(*entity1) {
-                colliding_entities1.remove(entity2);
-            }
-            if let Ok(mut colliding_entities2) = colliders.get_mut(*entity2) {
-                colliding_entities2.remove(entity1);
-            }
-
-            continue;
-        }
-
-        collision_ev_writer.send(Collision(contacts.clone()));
-
-        // Collision started
-        if contacts.during_current_frame && !contacts.during_previous_frame {
-            collision_started_ev_writer.send(CollisionStarted(*entity1, *entity2));
-            contacts.during_previous_frame = true;
-
-            if let Ok(mut colliding_entities1) = colliders.get_mut(*entity1) {
-                colliding_entities1.insert(*entity2);
-            } else {
-                ended_collisions.insert((*entity1, *entity2));
-            }
-            if let Ok(mut colliding_entities2) = colliders.get_mut(*entity2) {
-                colliding_entities2.insert(*entity1);
+    for contacts in collisions.get_internal_mut().values_mut() {
+        if let Ok([(rb1, sleeping1), (rb2, sleeping2)]) =
+            query.get_many([contacts.entity1, contacts.entity2])
+        {
+            let active1 = !rb1.map_or(true, |rb| rb.is_static()) && !sleeping1;
+            let active2 = !rb2.map_or(true, |rb| rb.is_static()) && !sleeping2;
+
+            // Reset collision states if either of the bodies is active (not static or sleeping)
+            // Otherwise, the bodies are still in contact.
+            if active1 || active2 {
+                contacts.during_previous_frame = true;
+                contacts.during_current_frame = false;
+                contacts.during_current_substep = false;
             } else {
-                ended_collisions.insert((*entity1, *entity2));
+                contacts.during_previous_frame = true;
+                contacts.during_current_frame = true;
             }
+        } else {
+            contacts.during_current_frame = false;
         }
     }
+}
 
-    // Send CollisionEnded events
-    collision_ended_ev_writer.send_batch(
-        ended_collisions
-            .iter()
-            .map(|(entity1, entity2)| CollisionEnded(*entity1, *entity2)),
-    );
-
-    // Clear collisions at the end of each frame to avoid unnecessary iteration and memory usage
-    collisions.retain(|contacts| !ended_collisions.contains(&(contacts.entity1, contacts.entity2)));
+/// Reset `during_current_substep` for each collision in [`Collisions`].
+pub fn reset_substep_collision_states(mut collisions: ResMut<Collisions>) {
+    for contacts in collisions.get_internal_mut().values_mut() {
+        contacts.during_current_substep = false;
+    }
 }
diff --git a/src/plugins/setup.rs b/src/plugins/setup.rs
index b096f5b0..34a29c5d 100644
--- a/src/plugins/setup.rs
+++ b/src/plugins/setup.rs
@@ -145,6 +145,7 @@ impl Plugin for PhysicsSetupPlugin {
             (
                 PhysicsStepSet::BroadPhase,
                 PhysicsStepSet::Substeps,
+                PhysicsStepSet::ReportContacts,
                 PhysicsStepSet::Sleeping,
                 PhysicsStepSet::SpatialQuery,
             )
diff --git a/src/plugins/sleeping.rs b/src/plugins/sleeping.rs
index 9536127a..d6a8f279 100644
--- a/src/plugins/sleeping.rs
+++ b/src/plugins/sleeping.rs
@@ -22,12 +22,7 @@ impl Plugin for SleepingPlugin {
     fn build(&self, app: &mut App) {
         app.get_schedule_mut(PhysicsSchedule)
             .expect("add PhysicsSchedule first")
-            .add_systems(
-                (apply_deferred, wake_up_on_collision_ended)
-                    .chain()
-                    .after(PhysicsStepSet::Substeps)
-                    .before(PhysicsStepSet::Sleeping),
-            )
+            .add_systems(wake_up_on_collision_ended.in_set(PhysicsStepSet::ReportContacts))
             .add_systems(
                 (
                     mark_sleeping_bodies,
@@ -130,27 +125,37 @@ fn wake_all_sleeping_bodies(
 /// Wakes up bodies when they stop colliding.
 fn wake_up_on_collision_ended(
     mut commands: Commands,
-    mut colliding: Query<&CollidingEntities, (Changed<Position>, Without<Sleeping>)>,
-    mut collision_ended_ev_reader: EventReader<CollisionEnded>,
-    mut sleeping: Query<(Entity, &CollidingEntities, &mut TimeSleeping), With<Sleeping>>,
+    moved_bodies: Query<(), (Changed<Position>, Without<Sleeping>)>,
+    collisions: Res<Collisions>,
+    mut sleeping: Query<(Entity, &mut TimeSleeping), With<Sleeping>>,
 ) {
-    // Wake up bodies when a body they're colliding with moves
-    for colliding_entities1 in colliding.iter_mut() {
-        let mut query = sleeping.iter_many_mut(colliding_entities1.iter());
-        if let Some((entity2, _, mut time_sleeping)) = query.fetch_next() {
-            commands.entity(entity2).remove::<Sleeping>();
+    // Wake up bodies when a body they're colliding with moves.
+    for (entity, mut time_sleeping) in &mut sleeping {
+        // Here we could use CollidingEntities, but it'd be empty if the ContactReportingPlugin was disabled.
+        let mut colliding_entities = collisions.collisions_with_entity(entity).map(|c| {
+            if entity == c.entity1 {
+                c.entity2
+            } else {
+                c.entity1
+            }
+        });
+        if colliding_entities.any(|entity| moved_bodies.contains(entity)) {
+            commands.entity(entity).remove::<Sleeping>();
             time_sleeping.0 = 0.0;
         }
     }
 
     // Wake up bodies when a collision ends, for example when one of the bodies is despawned.
-    for CollisionEnded(entity1, entity2) in collision_ended_ev_reader.iter() {
-        if let Ok((_, _, mut time_sleeping)) = sleeping.get_mut(*entity1) {
-            commands.entity(*entity1).remove::<Sleeping>();
+    for contacts in collisions.get_internal().values() {
+        if contacts.during_current_frame || !contacts.during_previous_frame {
+            continue;
+        }
+        if let Ok((_, mut time_sleeping)) = sleeping.get_mut(contacts.entity1) {
+            commands.entity(contacts.entity1).remove::<Sleeping>();
             time_sleeping.0 = 0.0;
         }
-        if let Ok((_, _, mut time_sleeping)) = sleeping.get_mut(*entity2) {
-            commands.entity(*entity2).remove::<Sleeping>();
+        if let Ok((_, mut time_sleeping)) = sleeping.get_mut(contacts.entity2) {
+            commands.entity(contacts.entity2).remove::<Sleeping>();
             time_sleeping.0 = 0.0;
         }
     }