Arrow stick to target

Dear Blender community,

 I am looking to have something resembling an arrow or spear be able to impale a target and "stick" there.  So, if I shot an arrow or threw a spear, it would hit the target and not bounce off.  It'd be even better if the arrow could penetrate into the target a little bit, too.  Also, I would like the projectile to stay with the target; so, if I were to have a hanging target, it would sway when it's hit and the projectile (which would be stuck into the target) would move with it.  Thank you!

 - KetoBlend

Here’s a video I seen on youtube the other day.Maybe It’ll help out. https://www.youtube.com/watch?v=mdPZnG_CUVg