diff --git a/doc/classes/KinematicBody2D.xml b/doc/classes/KinematicBody2D.xml
index ffeac5df29e8..44dd8cbf265b 100644
--- a/doc/classes/KinematicBody2D.xml
+++ b/doc/classes/KinematicBody2D.xml
@@ -152,7 +152,7 @@
 		</method>
 	</methods>
 	<members>
-		<member name="collision/safe_margin" type="float" setter="set_safe_margin" getter="get_safe_margin" default="0.08">
+		<member name="collision/safe_margin" type="float" setter="set_safe_margin" getter="get_safe_margin" default="0.001">
 			If the body is at least this close to another body, this body will consider them to be colliding.
 		</member>
 		<member name="motion/sync_to_physics" type="bool" setter="set_sync_to_physics" getter="is_sync_to_physics_enabled" default="false">
diff --git a/doc/classes/Physics2DServer.xml b/doc/classes/Physics2DServer.xml
index ed9729105f3b..6be8d03d0f37 100644
--- a/doc/classes/Physics2DServer.xml
+++ b/doc/classes/Physics2DServer.xml
@@ -818,7 +818,7 @@
 			</argument>
 			<argument index="3" name="infinite_inertia" type="bool">
 			</argument>
-			<argument index="4" name="margin" type="float" default="0.08">
+			<argument index="4" name="margin" type="float" default="0.001">
 			</argument>
 			<argument index="5" name="result" type="Physics2DTestMotionResult" default="null">
 			</argument>
diff --git a/doc/classes/RigidBody2D.xml b/doc/classes/RigidBody2D.xml
index 2ee9a79464f4..5e55b32bdbdf 100644
--- a/doc/classes/RigidBody2D.xml
+++ b/doc/classes/RigidBody2D.xml
@@ -107,7 +107,7 @@
 			</argument>
 			<argument index="1" name="infinite_inertia" type="bool" default="true">
 			</argument>
-			<argument index="2" name="margin" type="float" default="0.08">
+			<argument index="2" name="margin" type="float" default="0.001">
 			</argument>
 			<argument index="3" name="result" type="Physics2DTestMotionResult" default="null">
 			</argument>
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index f62804eb5392..b9eaca0a8af5 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -1029,7 +1029,7 @@ void RigidBody2D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_can_sleep", "able_to_sleep"), &RigidBody2D::set_can_sleep);
 	ClassDB::bind_method(D_METHOD("is_able_to_sleep"), &RigidBody2D::is_able_to_sleep);
 
-	ClassDB::bind_method(D_METHOD("test_motion", "motion", "infinite_inertia", "margin", "result"), &RigidBody2D::_test_motion, DEFVAL(true), DEFVAL(0.08), DEFVAL(Variant()));
+	ClassDB::bind_method(D_METHOD("test_motion", "motion", "infinite_inertia", "margin", "result"), &RigidBody2D::_test_motion, DEFVAL(true), DEFVAL(0.001), DEFVAL(Variant()));
 
 	ClassDB::bind_method(D_METHOD("_direct_state_changed"), &RigidBody2D::_direct_state_changed);
 	ClassDB::bind_method(D_METHOD("_body_enter_tree"), &RigidBody2D::_body_enter_tree);
@@ -1504,7 +1504,7 @@ void KinematicBody2D::_bind_methods() {
 KinematicBody2D::KinematicBody2D() :
 		PhysicsBody2D(Physics2DServer::BODY_MODE_KINEMATIC) {
 
-	margin = 0.08;
+	margin = 0.001;
 
 	on_floor = false;
 	on_ceiling = false;
diff --git a/scene/2d/physics_body_2d.h b/scene/2d/physics_body_2d.h
index 1879b89da928..d81fa9718ec5 100644
--- a/scene/2d/physics_body_2d.h
+++ b/scene/2d/physics_body_2d.h
@@ -192,7 +192,7 @@ class RigidBody2D : public PhysicsBody2D {
 	void _body_inout(int p_status, ObjectID p_instance, int p_body_shape, int p_local_shape);
 	void _direct_state_changed(Object *p_state);
 
-	bool _test_motion(const Vector2 &p_motion, bool p_infinite_inertia = true, float p_margin = 0.08, const Ref<Physics2DTestMotionResult> &p_result = Ref<Physics2DTestMotionResult>());
+	bool _test_motion(const Vector2 &p_motion, bool p_infinite_inertia = true, float p_margin = 0.001, const Ref<Physics2DTestMotionResult> &p_result = Ref<Physics2DTestMotionResult>());
 
 protected:
 	void _notification(int p_what);
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp
index 7ab153cd2945..3a15f2254672 100644
--- a/servers/physics_2d/space_2d_sw.cpp
+++ b/servers/physics_2d/space_2d_sw.cpp
@@ -1342,7 +1342,7 @@ Space2DSW::Space2DSW() {
 	contact_recycle_radius = 1.0;
 	contact_max_separation = 1.5;
 	contact_max_allowed_penetration = 0.3;
-	test_motion_min_contact_depth = 0.005;
+	test_motion_min_contact_depth = 0.0001;
 
 	constraint_bias = 0.2;
 	body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);
diff --git a/servers/physics_2d_server.cpp b/servers/physics_2d_server.cpp
index 6aae1c49291c..dbec263652e4 100644
--- a/servers/physics_2d_server.cpp
+++ b/servers/physics_2d_server.cpp
@@ -662,7 +662,7 @@ void Physics2DServer::_bind_methods() {
 
 	ClassDB::bind_method(D_METHOD("body_set_force_integration_callback", "body", "receiver", "method", "userdata"), &Physics2DServer::body_set_force_integration_callback, DEFVAL(Variant()));
 
-	ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "infinite_inertia", "margin", "result"), &Physics2DServer::_body_test_motion, DEFVAL(0.08), DEFVAL(Variant()));
+	ClassDB::bind_method(D_METHOD("body_test_motion", "body", "from", "motion", "infinite_inertia", "margin", "result"), &Physics2DServer::_body_test_motion, DEFVAL(0.001), DEFVAL(Variant()));
 
 	ClassDB::bind_method(D_METHOD("body_get_direct_state", "body"), &Physics2DServer::body_get_direct_state);
 
diff --git a/servers/physics_2d_server.h b/servers/physics_2d_server.h
index b94174a439ed..f90a78e746e0 100644
--- a/servers/physics_2d_server.h
+++ b/servers/physics_2d_server.h
@@ -235,7 +235,7 @@ class Physics2DServer : public Object {
 
 	static Physics2DServer *singleton;
 
-	virtual bool _body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin = 0.08, const Ref<Physics2DTestMotionResult> &p_result = Ref<Physics2DTestMotionResult>());
+	virtual bool _body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, float p_margin = 0.001, const Ref<Physics2DTestMotionResult> &p_result = Ref<Physics2DTestMotionResult>());
 
 protected:
 	static void _bind_methods();