Help make pick up tool animation smoother (i got it)

Hello, i made a script where a dummy is picking up a crowbar and drops it but it doesnt look smooth, when a certain point of the animation plays i script the crowbar to joint to the right arm but u can see it teleport to the arm and i dont want it like that, i want it where he once he picks it up it follows the right arm not teleport to it, any help?

i want it to stick to the hand after he touches it instead of it teleporting to the hand