Considering inertia of shock absorbers and contact deformation, a more precise and comprehensive docking dynamics model is built to make numeric simulation of the docking system which consists of two spacecrafts with androgynous peripheral docking mechanisms to reflect the dynamic characters of docking process. Types of contact points, geometrical model that determinates contact points, model of contact force and motion equations are studied. Simulation is done and the results are analyzed and compared with those which inertia and deformation are omitted.