Lifting up a pawn with a finger - Mobile

Hello, I’m currently working on a 3D side scroller, and I have a pawn (enemy with AI), that moves to a specific location. I want the player to be able to grab the enemy (with the finger - touch input), and lift it in the air, and on release the pawn falls to the ground. I can’t figure out on how doing this. Ay help would be highly appreciated!