We shall consider the problem of the motion of a rigid body in an incompressible viscous fluid filling a bounded domain. This problem was studied by several authors. They mostly considered classical non-slip boundary conditions, which gave them very paradoxical result of no collisions of the body with the boundary of the domain. Only recently there are results when the Navier type of boundary is considered.
In our paper we shall consider the Navier condition on the boundary of the body and the non-slip condition on the boundary of the domain. This case admits collisions of the body with the boundary of the domain. We shall prove the global existence of weak solution of the problem.