diff --git a/RELEASE-NOTES.md b/RELEASE-NOTES.md
index bd589ba209..e7cb195519 100644
--- a/RELEASE-NOTES.md
+++ b/RELEASE-NOTES.md
@@ -43,7 +43,7 @@ END TEMPLATE-->
 
 ### Bugfixes
 
-*None yet*
+* Fix QueueDel during EndCollideEvents from throwing while removing contacts.
 
 ### Other
 
diff --git a/Robust.Shared/Physics/Dynamics/Contacts/Contact.cs b/Robust.Shared/Physics/Dynamics/Contacts/Contact.cs
index 2e6279c133..52ef03d0ef 100644
--- a/Robust.Shared/Physics/Dynamics/Contacts/Contact.cs
+++ b/Robust.Shared/Physics/Dynamics/Contacts/Contact.cs
@@ -376,6 +376,9 @@ namespace Robust.Shared.Physics.Dynamics.Contacts
         /// </summary>
         Grid = 1 << 3,
 
+        /// <summary>
+        /// Set right before the contact is deleted
+        /// </summary>
         Deleting = 1 << 4,
     }
 }
diff --git a/Robust.Shared/Physics/Systems/SharedPhysicsSystem.Components.cs b/Robust.Shared/Physics/Systems/SharedPhysicsSystem.Components.cs
index 487c06b231..6b15cecf17 100644
--- a/Robust.Shared/Physics/Systems/SharedPhysicsSystem.Components.cs
+++ b/Robust.Shared/Physics/Systems/SharedPhysicsSystem.Components.cs
@@ -186,17 +186,25 @@ public partial class SharedPhysicsSystem
     {
         if (body.Contacts.Count == 0) return;
 
+        // This variable is only used in edge-case scenario when contact flagged Deleting raises
+        // EndCollideEvent which will QueueDelete contact's entity
+        ushort contactsFlaggedDeleting = 0;
         var node = body.Contacts.First;
 
         while (node != null)
         {
             var contact = node.Value;
             node = node.Next;
+
             // Destroy last so the linked-list doesn't get touched.
-            DestroyContact(contact);
+            if (!DestroyContact(contact))
+            {
+                contactsFlaggedDeleting++;
+            }
         }
 
-        DebugTools.Assert(body.Contacts.Count == 0);
+        // This contact will be deleted before SimulateWorld runs since it is already set to be Deleted
+        DebugTools.Assert(body.Contacts.Count == contactsFlaggedDeleting);
     }
 
     /// <summary>
diff --git a/Robust.Shared/Physics/Systems/SharedPhysicsSystem.Contacts.cs b/Robust.Shared/Physics/Systems/SharedPhysicsSystem.Contacts.cs
index fbd944ec75..678b594bd2 100644
--- a/Robust.Shared/Physics/Systems/SharedPhysicsSystem.Contacts.cs
+++ b/Robust.Shared/Physics/Systems/SharedPhysicsSystem.Contacts.cs
@@ -310,11 +310,10 @@ public abstract partial class SharedPhysicsSystem
                  (fixtureB.CollisionMask & fixtureA.CollisionLayer) == 0x0);
     }
 
-    public void DestroyContact(Contact contact)
+    public bool DestroyContact(Contact contact)
     {
-        // Don't recursive update or we're in for a bad time.
         if ((contact.Flags & ContactFlags.Deleting) != 0x0)
-            return;
+            return false;
 
         Fixture fixtureA = contact.FixtureA!;
         Fixture fixtureB = contact.FixtureB!;
@@ -326,7 +325,7 @@ public abstract partial class SharedPhysicsSystem
 
         if (contact.IsTouching)
         {
-            var ev1 = new EndCollideEvent(aUid, bUid, contact.FixtureAId, contact.FixtureBId ,fixtureA, fixtureB, bodyA, bodyB);
+            var ev1 = new EndCollideEvent(aUid, bUid, contact.FixtureAId, contact.FixtureBId, fixtureA, fixtureB, bodyA, bodyB);
             var ev2 = new EndCollideEvent(bUid, aUid, contact.FixtureBId, contact.FixtureAId, fixtureB, fixtureA, bodyB, bodyA);
             RaiseLocalEvent(aUid, ref ev1);
             RaiseLocalEvent(bUid, ref ev2);
@@ -335,10 +334,10 @@ public abstract partial class SharedPhysicsSystem
         if (contact.Manifold.PointCount > 0 && contact.FixtureA?.Hard == true && contact.FixtureB?.Hard == true)
         {
             if (bodyA.CanCollide)
-                SetAwake(aUid, bodyA, true);
+                SetAwake((aUid, bodyA), true);
 
             if (bodyB.CanCollide)
-                SetAwake(bUid, bodyB, true);
+                SetAwake((bUid, bodyB), true);
         }
 
         // Remove from the world
@@ -347,16 +346,19 @@ public abstract partial class SharedPhysicsSystem
         // Remove from body 1
         DebugTools.Assert(fixtureA.Contacts.ContainsKey(fixtureB));
         fixtureA.Contacts.Remove(fixtureB);
-        DebugTools.Assert(bodyA.Contacts.Contains(contact.BodyANode!.Value));
+        DebugTools.Assert(bodyA.Contacts.Contains(contact.BodyANode.Value));
         bodyA.Contacts.Remove(contact.BodyANode);
 
         // Remove from body 2
         DebugTools.Assert(fixtureB.Contacts.ContainsKey(fixtureA));
         fixtureB.Contacts.Remove(fixtureA);
+        DebugTools.Assert(bodyB.Contacts.Contains(contact.BodyBNode.Value));
         bodyB.Contacts.Remove(contact.BodyBNode);
 
         // Insert into the pool.
         _contactPool.Return(contact);
+
+        return true;
     }
 
     internal void CollideContacts()