diff --git a/src/sixDoFRigidBodyMotion/Make/files b/src/sixDoFRigidBodyMotion/Make/files
index 7977833681..e67dea1204 100644
--- a/src/sixDoFRigidBodyMotion/Make/files
+++ b/src/sixDoFRigidBodyMotion/Make/files
@@ -14,6 +14,7 @@ $(restraints)/tabulatedAxialAngularSpring/tabulatedAxialAngularSpring.C
 $(restraints)/linearDamper/linearDamper.C
 $(restraints)/sphericalAngularDamper/sphericalAngularDamper.C
 $(restraints)/linearSpringDamper/linearSpringDamper.C
+$(restraints)/softWall/softWall.C
 
 constraints = sixDoFRigidBodyMotion/constraints
 
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/softWall/softWall.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/softWall/softWall.C
new file mode 100644
index 0000000000..e4f03a6bad
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/softWall/softWall.C
@@ -0,0 +1,145 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | www.openfoam.com
+     \\/     M anipulation  |
+-------------------------------------------------------------------------------
+    Copyright (C) 2022 OpenCFD Ltd.
+-------------------------------------------------------------------------------
+License
+    This file is part of OpenFOAM.
+
+    OpenFOAM is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+    for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "softWall.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+    defineTypeNameAndDebug(softWall, 0);
+
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionRestraint,
+        softWall,
+        dictionary
+    );
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::softWall::softWall
+(
+    const word& name,
+    const dictionary& sDoFRBMRDict
+)
+:
+    sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
+    anchor_(Zero),
+    refAttachmentPt_(Zero),
+    wallNormal_(Zero),
+    psi_(0),
+    C_(0)
+{
+    read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::sixDoFRigidBodyMotionRestraints::softWall::restrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    vector& restraintPosition,
+    vector& restraintForce,
+    vector& restraintMoment
+) const
+{
+    restraintPosition = motion.transform(refAttachmentPt_);
+    restraintForce = Zero;
+    restraintMoment = Zero;
+
+    const vector r(restraintPosition - anchor_);
+
+    const vector v(motion.velocity(restraintPosition));
+
+    const scalar d = (wallNormal_/mag(wallNormal_)) & r;
+
+    const vector rDir(r/(mag(r) + VSMALL));
+
+    const scalar m = motion.mass();
+    const scalar wn = 3.14/C_;
+    const scalar damping = psi_*2*wn*m;
+    const scalar stiffness = sqr(wn)*m;
+
+    if (d < 0)
+    {
+        restraintForce = (-damping*(rDir & v) + stiffness*d)*rDir;
+        restraintMoment = restraintPosition^restraintForce;
+    }
+
+    if (motion.report())
+    {
+        Info<< " restraintPosition: " << restraintPosition
+            << " restraintForce: " << restraintForce
+            << " restraintMoment: " << restraintMoment
+            << endl;
+    }
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::softWall::read
+(
+    const dictionary& sDoFRBMRDict
+)
+{
+    if (!sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict))
+    {
+        return false;
+    }
+
+    sDoFRBMRCoeffs_.readEntry("anchor", anchor_);
+    sDoFRBMRCoeffs_.readEntry("refAttachmentPt", refAttachmentPt_);
+    sDoFRBMRCoeffs_.readEntry("wallNormal", wallNormal_);
+    sDoFRBMRCoeffs_.readEntry("psi", psi_);
+    sDoFRBMRCoeffs_.readEntry("C", C_);
+
+    return true;
+}
+
+
+void Foam::sixDoFRigidBodyMotionRestraints::softWall::write
+(
+    Ostream& os
+) const
+{
+    os.writeEntry("anchor", anchor_);
+    os.writeEntry("refAttachmentPt", refAttachmentPt_);
+    os.writeEntry("wallNormal", wallNormal_);
+    os.writeEntry("psi", psi_);
+    os.writeEntry("C", C_);
+}
+
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/softWall/softWall.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/softWall/softWall.H
new file mode 100644
index 0000000000..8548cf4e4c
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/softWall/softWall.H
@@ -0,0 +1,136 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | www.openfoam.com
+     \\/     M anipulation  |
+-------------------------------------------------------------------------------
+    Copyright (C) 2022 OpenCFD Ltd.
+-------------------------------------------------------------------------------
+License
+    This file is part of OpenFOAM.
+
+    OpenFOAM is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+    for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
+
+Class
+    Foam::sixDoFRigidBodyMotionRestraints::softWall
+
+Description
+    sixDoFRigidBodyMotionRestraints model.  Soft wall.
+
+SourceFiles
+    softWall.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sixDoFRigidBodyMotionRestraints_softWall_H
+#define sixDoFRigidBodyMotionRestraints_softWall_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+#include "point.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+                          Class softWall Declaration
+\*---------------------------------------------------------------------------*/
+
+class softWall
+:
+    public sixDoFRigidBodyMotionRestraint
+{
+    // Private Data
+
+        //- Anchor point, where the spring is attached to an immovable
+        //- object
+        point anchor_;
+
+        //- Reference point of attachment to the solid body
+        point refAttachmentPt_;
+
+        //- Wall normal
+        vector wallNormal_;
+
+        //- Damping factor
+        scalar psi_;
+
+        //- Damping coefficient [1/sec]
+        scalar C_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("softWall");
+
+
+    // Constructors
+
+        //- Construct from components
+        softWall
+        (
+            const word& name,
+            const dictionary& sDoFRBMRDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionRestraint>
+            (
+                new softWall(*this)
+            );
+        }
+
+
+    //- Destructor
+    virtual ~softWall() = default;
+
+
+    // Member Functions
+
+        //- Calculate the restraint position, force and moment.
+        //  Global reference frame vectors.
+        virtual void restrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            vector& restraintPosition,
+            vector& restraintForce,
+            vector& restraintMoment
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMRCoeff);
+
+        //- Write
+        virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //