Consider the classical conception of atoms in a vacuum in a box - the perfect gas; they collide and it this impulse of force that is their only interaction; and thus their dynamics; and this comes from the impenetrability of matter.
For if they were not impenetrable; one atom would pass through another; and there could be no collision; thus no impulse of force.
But no impressed force implies no change in motion (Newtons first law); but more precisely given that motion is change, we say there is no motion; that is it is at rest (Aristotles Physics).
And in this world let us switch off impenetrability; thus atoms can pass through each other; and no force is ever exerted; thus all atoms are at rest.
Interestingly this picture reminds me of the Parmenidian One in which there is no real motion (and thus motion is only apparent - or perhaps relative).
But is there anything in this?