Is it possible to use a quaternion from a gameobjects position to another gameobjects position?

Hi.

I would really like to be able to change the rotation of a game object to match that of another. Right now i have the following code (Pretty much from the Unity documentation)

 public Transform endMarker;

 public float speed = 25f;

 private float startTime;
 private float journeyLength;

 private bool resettingPosition = false;

 public void resetPosition() {
     startTime = Time.time;
     journeyLength = Vector3.Distance(transform.position, endMarker.position);
     resettingPosition = true;
 }

 void Update() {
     if (resettingPosition == true) {
         float distCovered = (Time.time - startTime) * speed;
         float fracJourney = distCovered / journeyLength;
         transform.position = Vector3.Lerp (transform.position, endMarker.position, fracJourney);
     }
 }

What this does is Lerping between the gameObject this script is attached to and a public Transform called endMarker, that I pulled another object into. This way my own object positions itself on the other object over time, copying it's exact positioning values.

I would like to be able to do the same with rotation, but after messing up with transforms, vectors 3s, quaternions for ages I'm on the verge of giving up and i figured maybe asking here would be an idea.

Thanks so much in advance!