The following steps are recommended. Not every detail are included.
1.You can build two CAE model, one is indentor, the other is foundation.
2. Set up material properties. You can define the general contact between these two bodies.
3. Explicit dynamic solver is recommended. But you can also try implicit. I'm not sure the solution will converge. (If you want to use explicit dynamic solver in ANSYS/APDL, an extra LS-DYNA license is needed. But explicit dynamic solver is available under standard license in ANSYS/workbench)