How to get the point of collision of a round RigidBody2d in Godot 3.6?

UpsetChicken

I have a ball that is a perfect circle and is a RigidBody2D node.
There are several StaticBody2D nodes scattered throughout my scene.
When my ball touches one of them, a tiny red pixel appears, representing the contact point — the exact position where the collision occurs.

I need to get the position of that contact point in Godot 3.6. How can I do this?