A weakly compressible smoothed particle hydrodynamics (WCSPH) method is used along with a new no-slip boundary condition to simulate movement of rigid bodies in incompressible Newtonian fluid flows. It is shown that the new boundary treatment method helps to efficiently calculate the hydrodynamic interaction forces acting on moving bodies. To compensate the effect of truncated compact support near solid boundaries, the method needs specific consistent renormalized schemes for the first and second-order spatial derivatives. In order to resolve the problem of spurious pressure oscillations in the WCSPH method, a modification to the continuity equation is used which improves the stability of the numerical method. The performance of the proposed method is assessed by solving a number of two-dimensional low-Reynolds fluid flow problems containing circular solid bodies. Wherever possible, the results are compared with the available numerical data.