The dynamic response of deformable bodies varies significantly in dependence on mechanical properties of the objects: while the dynamics of a stiff and light object (e. g. wire or needle) involves high-frequency phenomena such as vibrations, much lower frequencies are sufficient for capturing dynamic response of an object composed of a soft tissue. Yet, when simulating mechanical interactions between soft and stiff deformable models, a single time-step is usually employed to compute the time integration of dynamics of both objects. However, this can be a serious issue when haptic rendering of complex scenes composed of various bodies is considered. In this paper, we present a novel method allowing for dynamic simulation of a scene composed of colliding objects modelled at different frequencies: typically, the dynamics of soft objects are calculated at frequency about 50 Hz, while the dynamics of stiff object is modeled at 1 kHz, being directly connected to the computation of haptic force feedback. The collision response is performed at both low and high frequencies employing data structures which describe the actual constraints and are shared between the high and low frequency loops. During the simulation, the realistic behaviour of the objects according to the mechanical principles (such as non-interpenetration and action-reaction principle) is guaranteed. Examples showing the scenes involving different bodies in interaction are given, demonstrating the benefits of the proposed method.