Connection systems and methods thereof facilitate establishing electrical connections through a barrier such as a drape without compromising a sterile field established by the barrier. A connection system can include two connectors. A first connector can include a first-connector housing defining a cavity, a slideable end piece coupled to a distal-end portion of the first-connector housing, and at least a first piercing element connected to a first electrical lead. The first piercing element can be configured to enter the cavity and pierce a barrier disposed in the cavity when the slideable end piece is advanced toward a proximal-end portion of the first-connector housing. A second connector can include at least a first receptacle within a second-connector housing connected to a second electrical lead. The first receptacle can be configured to form at least a first electrical connection with the first piercing element after the first piercing element pierces the barrier.