Changing the rotation of an object to match parent's rotation

Hi guys;

I'm trying to emulate the weapons system that was available in the original Hitman: Codename 47. That is, the ability to physically pick up and drop weapons and items in the game world. I can make my character pick them up and drop them without any problems, but I can never get the rotation of the object to match the angle that my character's hand is facing. The weapon just snaps on at whatever angle it was facing during the collision with the hand, and I can't make it face it's designated angle. Can anyone advise on what to do?

Thanks in advance.