Item Pick-up for movement

Hey, im kinda new to scripting but have been learning for the past few weeks I'm trying to make a game like portal were you have to pick up cubes with the first person controller and move the cubes into certain positions but im having trouble making a script that i can tag my movable objects and then have them float in-front of the first person controller and then have a release to put it down.

Could anyone help,

Thanks heaps