A two-dimensional incompressible smoothed particle hydrodynamics scheme is presented for simulation of rigid bodies moving through Newtonian Fluids. The scheme relies on combined usage of the rigidity constraints and the viscous penalty method to simulate rigid body motion. Different viscosity ratios and interpolation schemes are tested by simulating a rigid disk descending in quiescent medium. A viscosity ratio of 100 coupled with weighted harmonic averaging scheme has been found to provide satisfactory results. The performance of the resulting scheme is systematically tested for cases with linear motion, rotational motion and their combination. The test cases include sedimentation of a single and a pair of circular disks, sedimentation of an elliptic disk and migration and rotation of a circular disk in linear shear flow. Comparison with previous results at various Reynolds numbers indicates that the proposed method captures the motion of rigid bodies driven by flow or external body forces accurately.