Droplet impact on a substrate is a ubiquitous phenomenon in nature and industry, such as raindrops hitting a leaf, ink-jet printing, spray cooling, and raindrop energy harvesting. In this study, we experimentally investigated the dynamics of a cantilever in contact with the ground by a droplet impact and identify key variables when the contact occurs. Observing the phenomenon and identifying possible configurations was proceeded. To characterize the modes, the bending rigidity of the cantilever should be considered. We suggested a new nondimensional number that represents both the droplet and the cantilever properties. A scaling analysis using a momentum balance was employed to develop a model for the boundary between the non-contact and contact mode. We also investigated the dynamics of a cantilever in contact with the ground. Through the rebound amplitude, we estimated the degree of energy dissipation by the contact. Correlating the contact time and the contact area, the effects of the droplet impact were confirmed when the cantilever was in contact with the ground. Additionally, we presented the effects of the impact point and surface tension on the contact. These findings may provide valuable insight into the design of a new energy harvesting system.