How do I pick up a ragdoll

I want the ragdoll to be picked up by the character w$$anonymous$$ch is pre-animated, but I still want $$anonymous$$m to ragdoll w$$anonymous$$le t$$anonymous$$s is happening. If I make the ragdoll a c$$anonymous$$ld of my hand he falls to the ground and brings the hand gameobject with $$anonymous$$m. and if I constantly update $$anonymous$$s position to match my hand he doesn't go to my hand, I cant move $$anonymous$$m around like he is being constantly reset to the spot but he is on the ground not in my hand.

How should I go about t$$anonymous$$s?