Is there a method that is called continuously on collision?

I need to do something while two bodies are colliding.

Look for “Messages” list here:

Unity - Scripting API: MonoBehaviour

and you will find all the built-in method calls. Among them:

Unity - Scripting API: MonoBehaviour.OnCollisionStay(Collision)

void OnCollisionStay ( Collision collision )
{
    
}

Unity - Scripting API: MonoBehaviour.OnCollisionStay2D(Collision2D)

void OnCollisionStay2D ( Collision2D collision )
{
    
}