We present a new mixed variable symplectic (MVS) integrator for planetary systems that fully resolves close encounters. The method is based on a time regularisation that allows keeping the stability properties of the symplectic integrators while also reducing the effective step size when two planets encounter. We used a high-order MVS scheme so that it was possible to integrate with large time-steps far away from close encounters. We show that this algorithm is able to resolve almost exact collisions (i.e. with a mutual separation of a fraction of the physical radius) while using the same time-step as in a weakly perturbed problem such as the solar system. We demonstrate the long-term behaviour in systems of six super-Earths that experience strong scattering for 50 kyr. We compare our algorithm to hybrid methods such as MERCURY and show that for an equivalent cost, we obtain better energy conservation.