Wheel setup - Rotating hub to steer but not forward

I am trying to set up a wheel hub. The goal here is to have a wheel that can spin forward, backwards and turn left and right, but be attached to a hub that only turns with the wheel, it would not spin forward. I have tried forcing the X rotation to 0 and Y to mimic the wheel, but I cant seem to get it working properly. Can anyone point me in the right direction for setting up a wheel hub/knuckle? To be more clear the knuckle is what the brake caliper would be attached to.