Rigidbody clipping through other collisions for a single frame?

Hi, I'm kinda new to Unity and have been experimenting with physics and rigidbodies. I'm making a Tetris game right now to try and get the hang of them, but I've encountered a problem where whenever the blocks fall down and collide with the other blocks or with the bottom of the Tetris board, they clip inside each other for a single frame before being correctly sorted. It's obviously not a game breaking issue, but it's kinda jarring when two different colored meshes are overlapping each other. Is there any way to fix this, or is this just one of the limitations of rigidbodies? It seems like checking for a collision before the game is rendered and then sorting the two objects would work, but I have no idea how to do that in Unity. Any help would be greatly appreciated!