How to make a child of something the parent?

I’m making a vr game and when I collide with a wall I can still move irl with vr which can sometimes mess up things like me hitting the collision of a table when I’m really 3 feet back, so I need to make the collision capsule a child of the camera, so that the collision capsule always stays on the camera no matter how I move my head around in vr, if that’s not the case, then how could I do that?