Pick up a Object and connect with a second object if i touch the secon object

Development Platform & Builds XR Development
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I want pickup with the HTC Vive Controller an Object and touch a second Object so that both Objects connect like a lego. How can i do that? Here some Pictures maybe it helps to understand me.

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So I should use Component overlap Component, but i really dont know how it makes sense, have you an example for me how i must do that, here a picture of my Blueprint.