Welding a bone to an R6 Character

How would I weld a bone in a skinned mesh to a match the movements of basepart?

I have an R6 character with a robe that I rigged. I would like the robe rig to follow the pose of the R6 character! Below is how it looks currently:

I have tried experimenting with RigidConstraints but these seem to lock the position of the part to the bone rather than the position of the bone to the part as seen below (on the left leg):

Any help would be greatly appreciated!

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