Move Object to Players Hand

I have the following code: public class InteractionManager : MonoBehaviour {

     public GameObject arms;
 
     private Animator anim;
     public float grabDist = 3;
 
     static int grabState = Animator.StringToHash("Base.grab");
 
     public GameObject holder;
 
     // Use this for initialization
     void Start () {
         anim = arms.GetComponent<Animator>();
     }
     
     // Update is called once per frame
     void Update () {
         if (Input.GetMouseButtonDown(0)) {
             anim.SetTrigger("grab");
             RaycastHit hit;
             if (Physics.Raycast(transform.position, transform.TransformDirection(Vector3.forward), out hit, grabDist)) {
                 if (hit.collider.tag.Equals("Interactable")) {
                     GameObject obj = hit.collider.gameObject;
                     GameObject objParent = obj.transform.parent.gameObject;
                     //objParent.SetActive(false);
                     obj.GetComponent<Collider>().enabled = false;
                     obj.GetComponent<Rigidbody>().isKinematic = false;
                     objParent.transform.parent = holder.transform;
                     //StartCoroutine(FinishGrab());
                     objParent.SetActive(true);
                     objParent.transform.localPosition = Vector3.zero;
                     objParent.transform.Rotate(0, 0, 0);
                     obj.layer = 8;
                     anim.SetBool("lantern", true);
                 }
             }
         }
     }
     IEnumerator FinishGrab() {
         yield return new WaitUntil(() => !(anim.GetCurrentAnimatorStateInfo(0).fullPathHash == grabState));
     }
 }

It is intended to allow me to pick up a lantern by having an empty object that it is a child of get moved to align with an empty object hovering the players hand. When I try this the lantern moves but then just starts falling out of the world. Any help is appreciated.