How to use Best of contactPoints2d

i am new, advanced thanks for help, i want to ask question that i am developing a game like a spider man when we throw a rope to any collider then i want that rope will be attached with hingejoint2d with that collider using contactpoints2d but i tryied my best but in vain because of limited knowledge any one help me I have watched all official tutorials also

 using UnityEngine;
 using System.Collections;

 public class TestCollision : MonoBehaviour {
 HingeJoint2D hingjoint1;
 //var sparks : ParticleEmitter;
 ParticleEmitter sparks;
 void OnCollisionEnter2D (Collision2D other){

     if (other.gameObject.tag == "tire1") {

         rigidbody2D.velocity = Vector3.zero;

         //*****************************************************
 
         ContactPoint2D contact = other.contacts[0];
         //contact = contact.normal;
         Vector3 pos = contact.point;
         gameObject.AddComponent<HingeJoint2D> ();
         gameObject.GetComponent<HingeJoint2D> ().connectedBody = other.gameObject.rigidbody2D;
     gameObject.GetComponent<HingeJoint2D> ().collideConnected = true;
         //hingjoint1.anchor = pos;
         gameObject.GetComponent<HingeJoint2D> ().anchor = pos;
         //gameObject.GetComponent<HingeJoint2D> ().connectedAnchor = pos;
         //gameObject.GetComponent<HingeJoint2D> ().normal = gameObject;
         //******************************************************
         gameObject.rigidbody2D.isKinematic = true;
         //gameObject.rigidbody2D.isKinematic = false;
         //            var rotation = Quaternion.FromToRotation(Vector3.down, contact.normal);
 //            
 //
 //                Instantiate(sparks, contact.point, rotation);
             Debug.Log ("Collision Enter");
         Debug.Log (pos);
     }
 }
 }