diff --git a/doc/classes/VehicleWheel3D.xml b/doc/classes/VehicleWheel3D.xml
index 92b2297bf4c5..7b4952580c68 100644
--- a/doc/classes/VehicleWheel3D.xml
+++ b/doc/classes/VehicleWheel3D.xml
@@ -18,6 +18,18 @@
 				Returns [code]null[/code] if the wheel is not in contact with a surface, or the contact body is not a [PhysicsBody3D].
 			</description>
 		</method>
+		<method name="get_contact_normal" qualifiers="const">
+			<return type="Vector3" />
+			<description>
+				Returns the normal of the suspension's collision in world space if the wheel is in contact. If the wheel isn't in contact with anything, returns a vector pointing directly along the suspension axis toward the vehicle in world space.
+			</description>
+		</method>
+		<method name="get_contact_point" qualifiers="const">
+			<return type="Vector3" />
+			<description>
+				Returns the point of the suspension's collision in world space if the wheel is in contact. If the wheel isn't in contact with anything, returns the maximum point of the wheel's ray cast in world space, which is defined by [code]wheel_rest_length + wheel_radius[/code].
+			</description>
+		</method>
 		<method name="get_rpm" qualifiers="const">
 			<return type="float" />
 			<description>
diff --git a/scene/3d/physics/vehicle_body_3d.cpp b/scene/3d/physics/vehicle_body_3d.cpp
index c23032d3b902..b4c321cf5fa5 100644
--- a/scene/3d/physics/vehicle_body_3d.cpp
+++ b/scene/3d/physics/vehicle_body_3d.cpp
@@ -219,6 +219,14 @@ bool VehicleWheel3D::is_in_contact() const {
 	return m_raycastInfo.m_isInContact;
 }
 
+Vector3 VehicleWheel3D::get_contact_point() const {
+	return m_raycastInfo.m_contactPointWS;
+}
+
+Vector3 VehicleWheel3D::get_contact_normal() const {
+	return m_raycastInfo.m_contactNormalWS;
+}
+
 Node3D *VehicleWheel3D::get_contact_body() const {
 	return m_raycastInfo.m_groundObject;
 }
@@ -256,6 +264,8 @@ void VehicleWheel3D::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("is_in_contact"), &VehicleWheel3D::is_in_contact);
 	ClassDB::bind_method(D_METHOD("get_contact_body"), &VehicleWheel3D::get_contact_body);
+	ClassDB::bind_method(D_METHOD("get_contact_point"), &VehicleWheel3D::get_contact_point);
+	ClassDB::bind_method(D_METHOD("get_contact_normal"), &VehicleWheel3D::get_contact_normal);
 
 	ClassDB::bind_method(D_METHOD("set_roll_influence", "roll_influence"), &VehicleWheel3D::set_roll_influence);
 	ClassDB::bind_method(D_METHOD("get_roll_influence"), &VehicleWheel3D::get_roll_influence);
diff --git a/scene/3d/physics/vehicle_body_3d.h b/scene/3d/physics/vehicle_body_3d.h
index def998444069..24f120ed26b0 100644
--- a/scene/3d/physics/vehicle_body_3d.h
+++ b/scene/3d/physics/vehicle_body_3d.h
@@ -130,6 +130,10 @@ class VehicleWheel3D : public Node3D {
 
 	bool is_in_contact() const;
 
+	Vector3 get_contact_point() const;
+
+	Vector3 get_contact_normal() const;
+
 	Node3D *get_contact_body() const;
 
 	void set_roll_influence(real_t p_value);