The Chrono distribution contains several demos for multi-core simulation of Chrono systems with the PARALLEL module.

Selected demos:

demo_PAR_ballsNSC
demo_PAR_mixerNSC - simple examples of using NSC (non-smooth) contact formulation
demo_PAR_ballsSMC
demo_PAR_mixerSMC - sinple examples of using SMC (smooth, penalty) contact formulation
demo_PAR_particlesNSC - example of using a container of homogeneous spherical particles, each with only 3 degrees of freedom (no rotations)