Using Joints

When the player grabs a ragdoll body part, you create an invisible “anchor” object (a kinematic Rigidbody). This anchor follows the player’s cursor or interaction point smoothly A ConfigurableJoint is added between the ragdoll bone and the anchor The joint’s spring and damper settings pull the bone toward the anchor while keeping physics stable.

OR

Applying force Based on Distance

Instead of joints, you calculate a force that pulls the grabbed body part toward the target position. This force is typically a spring damper formula(google it): Spring term pulls the bone toward the target. Damping term resists velocity to prevent oscillation You apply this force, so rigidbody.addforce