In this paper the problem of simulation of con-
strained mechanical systems is addressed. In modeling multi-
body mechanical systems, the Lagrange formulation produces
a redundant set of differential-algebraic equations, the integra-
tion of which can lead to several difficulties, for example the
drift of the “constraint violation”. One of the most popular
approaches to alleviate this issue is the so-called Baumgarte’s
method that relies on a linear feedback mechanism. This
method can however lead to numerical instabilities when
applied to nonlinear (mechanical) systems. The objective of
this study is to propose a new method that ensures existence
of solutions and makes the constraint manifold asymptotically
attractive. The proposed technique is illustrated by means of a
simple example.