my character penetrate the wall how do I fix that

the wall have mesh collider.
the character have capsule collider.

Try using RigidBody.MovePosition, like so:

RigidBody rb; // The rigidbody of the player. Use GetComponent to get the RigidBody of the player.
Vector3 mp; // The point you want to move to. This can be replaced with literally anything else.

This way it all goes based on physics. Also keep in mind if either of the colliders are triggers they won’t collide, and if you are making a first person game, make sure the “near” part of the camera is set really low, that way you can’t see through the wall.