How can I make a third person character that hast the root/pivot on the bottom?

I want my character’s origin point (pivot) to be at the bottom (like on the ground, right under the character’s feet), so if the character is rotated, he rotates around his feet and not his actual center.
I can’t find a way to do this because the character collider (in this case a capsule collider) apparently has to be the root component, and the capsule’s pivot is always at its center and as far as I know you can’t change it.
I tried to create a new actor that has an empty scene component as root and the capsule as a child, but then the capsule just ‘falls off’ the actor, and I would like to keep physics on for this.

So is there any way to do this?