How do I get the parent to follow the child's movement?

I have a ragdoll set up and I'm trying to move it and get the origin to more with it, but there are two problems:

One, the child moves and the parent is forced to move with it, moving the child twice as much because it moves when the parent does. Im using the fixed Joint

And two, the rigidbody of the origin just falls through the ground and dangles there as it is attached to the child. I cant make it kinematic because then it wont move. How do i do this properly without these problems?