The nature and effects of contacts between suspended particles were studied through a process in which a heavy sphere falls past a light sphere in a viscous fluid at low Reynolds number. Teflon and nylon spheres were used for the heavy and light spheres, respectively, with natural surface roughness and with the nylon sphere artificially roughened. Because of the existence of microscopic roughness on the sphere surfaces, the particles are able to make physical contact, breaking the symmetry of the trajectory predicted by hydrodynamic theory for smooth spheres. The experimental results are compared with numerical results calculated according to the theory of Davis (Phys. Fluids A 4 (1992) 2607), with a particular focus on the rotational velocities of the spheres. The numerical results from the roll/slip model provide the best fit of the experimental data. Instead of locking together like a rigid body and rotating together, two spheres initially roll without slipping and then roll with slipping after the maximum friction force is reached.