Connect 2 rigidbodies

I have 2 rigid bodies that, on collision, need to stick together on impact. One of these objects has forces acting on it via AddForce, and I need it to "pull" the object it is attached to along with it. I tried using a Fixed Joint, but it had a ton of slack in it, and acted more like a spring, which is not desired behavior. I also tried making one object the child of the object with forces acting on it. This worked better, but caused the collider of that object to be ignored. Also, I later learned that making one rigid body the child of another is a bad idea. I'm out of ideas here, and I feel like this should be far easier than it is. Any advice welcomed.