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Attach Actor to Actor

I´m making a vr game in which I can grab an actor and place it over another actor so the behave as one.
At first I was having problems with the attachtocomponent because the hands of my vr character were getting attached to the actor, then I had the problem were the actors would only attach once. As of now I can make them stick but they are glitchy and I can only handle one of them as if the collision of the other had disappeared

How can I make on actor attach to another in the game and behave as one after that?