they don't apply force each other and detect their collision
Sounds like you might want to look at collision filtering. This answer has a bit of code that changes the collision filtering index of a body dynamically https://stackoverflow.com/a/11283206/735204
they move together at the same position after collision
Probably some kind of joint (eg weldjoint?)
From the manual: http://www.box2d.org/manual.html
Joints are used to constrain bodies to the world or to each other. Typical examples in games include ragdolls, teeters, and pulleys. Joints can be combined in many different ways to create interesting motions.
Some joints provide limits so you can control the range of motion. Some joint provide motors which can be used to drive the joint at a prescribed speed until a prescribed force/torque is exceeded.
Joint motors can be used in many ways. You can use motors to control position by specifying a joint velocity that is proportional to the difference between the actual and desired position. You can also use motors to simulate joint friction: set the joint velocity to zero and provide a small, but significant maximum motor force/torque. Then the motor will attempt to keep the joint from moving until the load becomes too strong.