In this paper the problem of simulation of
differential-algebraic systems is addressed. In modelling me-
chanical systems the use of redundant coordinates and con-
straints results in differential-algebraic equations, the integra-
tion of which can lead to numerical instabilities, such as the
so-called drift phenomenon. In [1] the authors have proposed
a globally convergent conceptual continuous-time algorithm
for the integration of constrained mechanical systems which
ensures the existence of solutions and global attractivity of the
solution manifold. The objective of this paper is to study the
numerical implementation of the algorithm presented in [1]. In
addition, the stability properties of the constrained system in
the manifold are studied in both the continuous and discrete
time cases. The proposed technique is illustrated by means of
a simple example.