Physics attaching player to joint

Hi,
I had a look at this article http://www.interstellarechidna.com/blog/programming/2016/03/16/physics-based-climbing.html and was wondering if it is possible to do what they described as attaching a player to a joint that is also attached to a wall, where they wouldn’t fall. Is this possible?

P.s. I’m attempting to use this for a wall running component
Thanks