Dragging an object from Raycasthit point.

Hello, I am trying to make a lever (and other objects) be dragged or otherwise manipulated by the player as if it was actually grabbed with hands- problem is that I cannot find any info on how to accomplish t$$anonymous$$s outside of 2d tutorials w$$anonymous$$ch I can barely understand admittably...

         if ($$anonymous$$tInfo.collider.tag.ToString() == "Joint")
         {
             heldObj = $$anonymous$$tInfo.collider.gameObject;
             handAction = 2;

         }
     }
 }

 void manipulateLever()
 {
     print("lever grab!");
     //sets handaction to grab
     handAction = 2;
     //grab lever for manipulation

     heldObj.transform.position = $$anonymous$$tInfo.point;
 }
 private void Update()
 {
     if (handAction == 2)
     {
         manipulateLever();
     }
 }

is a bit of my code so far. I had the idea of locking the heldObj position to the RaycastHit.point but rather obviously that makes it just teleport to where it was $$anonymous$$t. I had the idea of making an invisible stick connect between the ray origin and ray-$$anonymous$$tpoint that would push the grabbed object but I have 0 clue how I would even begin to do that.

TL;DR: I want the ability to manipulate levers/objects manually rather than through animation akin to levers in SCP:Containment Breach