There is few research about contact problem for a rigid surface with an arbitrary shape in SPH. The variational equation based on the virtual work principle is derived and its solution is obtained by the penalty method. It is proposed a new method that can determine the parameters for a penetration and a penetration rate used in the penalty method. The reproducing condition is adopted to correct the deficiency of kernel on the boundary. In order to calculate a penetration of particles, after checking boundary particles for deformable body, boundary normal vectors were determined on the rigid surface. Numerical simulations for models which have rigid surface with an arbitrary shape were conducted to validate the proposed method in 2D Cartesian and cylindrical coordinate. The results of those analysis represent that the contact algorithm proposed in this study works properly.