How can i make a part attached to another part?

Hi, So I wanted to ask is there a way to attach a part to another part in a certain area? something like this

(also sorry that its ugly i made it quickly)

But this is what i get:

You see how the lower leg can just rome freely it can rotate how ever it wants is there anyway to make it attached to that point??

You can move the Motor6D with

If it is another type of union, you could use

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