We report on the experimental observation of coexistence of solitons and polarization domains, as well as features of soliton collision with polarization domain walls (or kink solitons) in a single mode fiber laser. Depending on the sign of cavity dispersion, either bright or dark solitons have been formed in our fiber laser. Under suitable laser operation conditions, they could even coexist with polarization domains and collide with the domain walls. We show experimental evidence of both the elastic and inelastic soliton collisions with the domain wall solitons. Some interesting features of soliton interaction with polarization domains in a fiber laser are also firstly revealed.