VR Realistic sword physics

Hi,

I want to grab a sword in my vr game so it is attached to my hand but can also collide with other physics objects (cant go trough walls etc.) i tried simply attaching the sword to my hand, but that doesn’t work with simulate physics. When i grab it with a physics handle it just hangs loose upside down. A good example of what i want is the game Blade And Sorcery.

Any help greatly appreciated!!!