A collision of viscoelastic bodies is analysed within a mathematically rigorous approach. We develop a perturbation scheme to solve continuum mechanics equation, which deals simultaneously with strain and strain rate in the bulk of the bodies' material. We derive dissipative force that acts between particles and express it in terms of particles' deformation, deformation rate and material parameters. It differs noticeably from the currently used dissipative force, found within the quasi-static approximation and does not suffer from inconsistencies of this approximation. The proposed approach may be used for other continuum mechanics problems where the bulk dissipation is addressed.