Thanks!
The velocity capture works great!
Of course, it would be ideal if this worked on it’s own, so I could bounce balls on top of each other etc., but at least it’s something 
Does the Substepping solution work consistently? I noticed that sometimes it did, but then without me changing anything, it didn’t.
Also if I do it this way there is a noticable slow down of the simulation, what do you think is the best way to ‘speed it back up’? Gravity? If I choose to use Substepping.