Connecting two meshes

Is there some way to connect a mesh to a another mesh, like if the vertex of the one mesh is the parent to vertex to the other mesh, in such a way that both are more or less glued together?

I tried to give one of my models more realism by simulating some parts as softbodys, that are lying under the skin. But now i run into one problem where shrinkwrap isn’t much of a help. My softbody (a mesh with internal vertices, so that it does not collapse) has a sharp buckling (something like a canyon). If i use shrinkwrap the vertices are snapping to the edges of the softbody and i loose the buckling inside the skin. It looks random and ugly…

Any ideas how to do that? Both objects do even have the same topology at the surface.

Whenever I have that problem I usually scale the shrinkwrap object up more than the original size and it automatically evens everything out and if it looks choppy I usually subdevide it more…