It's been happening naturally for billions of years
Asteroids and comets have been hitting the earth for billions of years. While nobody wants one to come down now, scientists think they are responsible for many of the resources on earth, especially water.
However, all it takes to safely bring down mass is what we used for bringing down our space capsules. Ablation shields and parachutes are relatively cheap, probably could be manufactured from materials on the asteroids, and leave the cargo intact.
And at some point we may come up with space elevators, which would make bringing down mass easy. We could even convert the enormous potential energy of a mass in orbit to electric power, though with easy access to space and solar energy probably nobody would bother.
