diff --git a/framework/src/geomsearch/PenetrationThread.C b/framework/src/geomsearch/PenetrationThread.C
index c3844fb0a310..f98a25b2b58f 100644
--- a/framework/src/geomsearch/PenetrationThread.C
+++ b/framework/src/geomsearch/PenetrationThread.C
@@ -427,8 +427,12 @@ PenetrationThread::operator()(const NodeIdRange & range)
           } while (i < p_info.size() && best < p_info.size());
           if (best < p_info.size())
           {
-            switchInfo(info, p_info[best]);
-            info_set = true;
+            // Ensure final info is within the tangential tolerance
+            if (p_info[best]->_tangential_distance <= _tangential_tolerance)
+            {
+              switchInfo(info, p_info[best]);
+              info_set = true;
+            }
           }
         }
       }
diff --git a/test/tests/geomsearch/3d_penetration_locator/close_tet.i b/test/tests/geomsearch/3d_penetration_locator/close_tet.i
new file mode 100644
index 000000000000..77c2ca5812ba
--- /dev/null
+++ b/test/tests/geomsearch/3d_penetration_locator/close_tet.i
@@ -0,0 +1,123 @@
+[Problem]
+  solve = false
+[]
+[Mesh]
+  [block_one]
+    type = GeneratedMeshGenerator
+    dim = 3
+    nx = 3
+    ny = 3
+    nz = 1
+    xmin = 4.5
+    xmax = 5.5
+    ymin = 4.5
+    ymax = 5.5
+    zmin = 0.001
+    zmax = 1.001
+    boundary_name_prefix = 'ball'
+    elem_type = TET4
+  []
+  [block_two]
+    type = GeneratedMeshGenerator
+    dim = 3
+    nx = 10
+    ny = 10
+    nz = 1
+    xmin = 3
+    xmax = 7
+    ymin = 3
+    ymax = 7
+    zmin = -2
+    zmax = 0
+    boundary_name_prefix = 'base'
+    boundary_id_offset = 10
+    elem_type = TET4
+  []
+  [block_one_id]
+    type = SubdomainIDGenerator
+    input = block_one
+    subdomain_id = 1
+  []
+  [block_two_id]
+    type = SubdomainIDGenerator
+    input = block_two
+    subdomain_id = 2
+  []
+  [combine]
+    type = MeshCollectionGenerator
+    inputs = ' block_one_id block_two_id'
+  []
+[]
+
+[AuxVariables]
+  [penetration]
+    order = FIRST
+    family = LAGRANGE
+  []
+  [closest_point_x]
+    order = FIRST
+    family = LAGRANGE
+  []
+  [closest_point_y]
+    order = FIRST
+    family = LAGRANGE
+  []
+  [closest_point_z]
+    order = FIRST
+    family = LAGRANGE
+  []
+  [tang_dist]
+    order = FIRST
+    family = LAGRANGE
+  []
+[]
+
+[AuxKernels]
+  [penetrate]
+    type = PenetrationAux
+    variable = penetration
+    boundary = base_front
+    paired_boundary = ball_back
+    quantity = distance
+  []
+
+  [close_x]
+    type = PenetrationAux
+    variable = closest_point_x
+    boundary = base_front
+    paired_boundary = ball_back
+    quantity = closest_point_x
+  []
+
+  [close_y]
+    type = PenetrationAux
+    variable = closest_point_y
+    boundary = base_front
+    paired_boundary = ball_back
+    quantity = closest_point_y
+  []
+
+  [close_z]
+    type = PenetrationAux
+    variable = closest_point_z
+    boundary = base_front
+    paired_boundary = ball_back
+    quantity = closest_point_z
+  []
+  [tang_dist]
+    type = PenetrationAux
+    variable = tang_dist
+    boundary = base_front
+    paired_boundary = ball_back
+    quantity = tangential_distance
+  []
+[]
+
+[Executioner]
+  type = Steady
+[]
+
+[Outputs]
+  exodus = true
+  execute_on = TIMESTEP_END
+[]
diff --git a/test/tests/geomsearch/3d_penetration_locator/gold/3d_rings_out_values_0001.csv b/test/tests/geomsearch/3d_penetration_locator/gold/3d_rings_out_values_0001.csv
index 7c142aa4c5f3..60bc4f2f13a0 100644
--- a/test/tests/geomsearch/3d_penetration_locator/gold/3d_rings_out_values_0001.csv
+++ b/test/tests/geomsearch/3d_penetration_locator/gold/3d_rings_out_values_0001.csv
@@ -105,7 +105,7 @@ id,penet,x,y,z
 103,0,0.023321254371987,0.085147669460424,0.52757575757576
 104,0,0.01343582997789,0.080003415385772,0.52757575757576
 105,0,0.001228247892379,0.074916002753794,0.52757575757576
-106,-0.02,-0.012040599039569,0.069254560506297,0.52757575757576
+106,0,-0.012040599039569,0.069254560506297,0.52757575757576
 107,0,-0.025369449981148,0.062763432388308,0.52757575757576
 108,0,-0.038217981421365,0.056264603033665,0.52757575757576
 109,0,-0.050385926211285,0.049932986944693,0.52757575757576
@@ -145,7 +145,7 @@ id,penet,x,y,z
 143,0,0.019784304947665,0.093759659737193,0.52757575757576
 144,0,0.0088307662446221,0.091722688900273,0.52757575757576
 145,0,-0.0046421167912178,0.08945169640657,0.52757575757576
-146,-0.02,-0.019286003603324,0.084658690550919,0.52757575757576
+146,0,-0.019286003603324,0.084658690550919,0.52757575757576
 147,0,-0.033194217610861,0.077133564062727,0.52757575757576
 148,0,-0.046129505898724,0.069631033321947,0.52757575757576
 149,0,-0.058420538219503,0.061937694966137,0.52757575757576
diff --git a/test/tests/geomsearch/3d_penetration_locator/gold/close_tet_out.e b/test/tests/geomsearch/3d_penetration_locator/gold/close_tet_out.e
new file mode 100644
index 000000000000..3ec219884305
Binary files /dev/null and b/test/tests/geomsearch/3d_penetration_locator/gold/close_tet_out.e differ
diff --git a/test/tests/geomsearch/3d_penetration_locator/tests b/test/tests/geomsearch/3d_penetration_locator/tests
index 166f96de81b4..b712f3e8cf6a 100644
--- a/test/tests/geomsearch/3d_penetration_locator/tests
+++ b/test/tests/geomsearch/3d_penetration_locator/tests
@@ -33,4 +33,11 @@
                   "point search leads to element Jacobian computations too far from the element for "
                   "the Jacobian to be non-negative."
   []
+  [close_tet_mesh]
+    type = Exodiff
+    input = 'close_tet.i'
+    exodiff = 'close_tet_out.e'
+    recover = false # steady solve
+    requirement = "The system will shall be able to ensure contact points are within tangential tolerances."
+  []
 []