A little help with using Navmesh agents with RigidBody physics.

I want to use navmesh agents but also be able to use rigidbody physics.I figured that if i makae my rigidbody character follow an empty gameobject with a navmesh agent component i could make rigid body physics work on the original gameobject thet merely follows the navmesh agent object.However i hav enot been able to get it to work.Setting the empty gameobject a child of the follower object causes physics issue and glitches.Can someone explain a way this is doable.Tried setting isKinematic just before physics interactions but it always leads to the navmesh agent getting stuck in its position afterwards and not resuming.