Configurable joint : How to pull the object towards anchor using rigidbody

Hi guys.

I am trying to pull the object towards the anchor of the joint. How do i do this? I am new to joints and kind of confuse with the documentation.

Do i need to modify the anchor while i add a force to the object towards the anchor?

Here's what I'm trying to achieve, but I want to use rigidbody instread.

  handle.GetComponent().anchor = Vector3.MoveTowards(handle.GetComponent().anchor, Vector3.zero, 0.3f);

this works, but i want the rigidbody to do the pulling force so when I destroy the joint. the object will keep its velocity.