How Can I Detect Intersection of Two Gameobject

I want to know how to detect to two intersecting gameobjects. If you can help me, I will be ver apriciate.

Use Colliders and their respective script callbacks:

For 2D objects, use Collider2Ds instead and their respective callbacks:

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But I have two colliders that I want to report the collision of each other. Only one has rigidbody.

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Thanks for help people. I solved my problem.