Rotate skeletal bone about point

I am attempting to implement a basic full body tracking system using vive trackers. I am having some issues with the rotation of bones however. What I want to to do is mimic the effect of attaching a bone to an object (the tracker) while keeping its relative world transform. Does anyone have any recommendations? My thought was to record the transform of the tracker at the moment of “attachment” and use this to offset the transformations of the bone however this is not quite right when it comes to rotation as the bone rotates around its own axis whereas I believe the effect I want is for it to rotate around the tracker (An effect I am yet to figure out). Any advise appreciated.