How to make an object "lag" behind an object that's moving?

Hello, I have a question that I have no idea how to make. How would I make an object “lag” behind another object that’s moving?
For example, if Part A moved to point B, then part B would slowly follow behind to the same position as part A.

Sorry if I made it confusing :sweat_smile:

Maybe this is what you are looking for.

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