In the case of the horizon around a black hole, observers stationary with respect to a distant object will all agree on where the horizon is. While this seems to allow an observer lowered towards the hole on a rope (or rod) to contact the horizon, in practice this cannot be done. The proper distance to the horizon is finite, so the length of rope needed would be finite as well, but if the rope were lowered slowly (so that each point on the rope was approximately at rest in Schwarzschild coordinates), the proper acceleration (G-force) experienced by points on the rope closer and closer to the horizon would approach infinity, so the rope would be torn apart. If the rope is lowered quickly (perhaps even in freefall), then indeed the observer at the bottom of the rope can touch and even cross the event horizon. But once this happens it is impossible to pull the bottom of rope back out of the event horizon, since if the rope is pulled taut, the forces along the rope increase without bound as they approach the event horizon and at some point the rope must break. Furthermore, the break must occur not at the event horizon, but at a point where the second observer can observe it.