Two-way solid fluid coupling techniques typically calculate fluid pressure forces that in turn drive the solid motion. However, when solids are in close proximity (e.g. touching or in contact), the fluid in the thin gap region between the solids is difficult to resolve with a background fluid grid. Although one might attempt to address this difficulty using an adaptive, body-fitted, or ALE fluid grid, the size of the fluid cells can shrink to zero as the bodies collide. The inability to apply pressure forces in a thin lubricated gap tends to make the solids stick together, since collision forces stop interpenetration but vanish when the solids are separating leaving the fluid pressure forces on the surface of the solid unbalanced in regards to the gap region. We address this problem by adding pressure degrees of freedom onto surfaces of rigid bodies, and subsequently using the resulting pressure forces to provide solid fluid coupling in the thin gap region. These pressure degrees of freedom readily resolve the tangential flow along the solid surface inside the gap and are two-way coupled to the pressure degrees of freedom on the grid allowing the fluid to freely flow into and out of the gap region. The two-way coupled system is formulated as a symmetric positive-definite matrix which is solved using the preconditioned conjugate gradient method. Additionally, we provide a mechanism for advecting tangential velocities on solid surfaces in the gap region by extending semi-Lagrangian advection onto a curved surface mesh where a codimension-one velocity field tangential to the surface is defined. We demonstrate the convergence of our method on a number of examples, such as underwater rigid body separation and collision in both two and three spatial dimensions where typical methods do not converge. Finally, we demonstrate that our method not only works for the aforementioned "wet" contact, but also works in conjunction with "dry" contact where there is no fluid in the gap between the solids.