HELP! Need to make a character controller which wobbles as the player moves

I'm currently working on a stealth game where two characters are disguised (currently just two cubes stacked on top of each other) as one taller character. I need these two cubes to wobble as the player moves and also topple if they move too abruptly. Can anyone help me figure out how I should go about doing this? Should I use the Unity joint system or just code it all from scratch?