I can’t fully grasp your situation, but I did a search for something I had seen a number of times before, though never used personally (though, maybe I will someday heh. )
Here is one of those posts (I believe the first answer is what I’m talking about): How to calculate force needed to jump towards target point?
As for coming down to the centre, that part I’m not sure about. It’s going to come down based on gravity (or any code you have to make it come down).
For a more thorough response, you could post your code here on the forums, showing what you have, and someone may be able to give you better advice! 
And add any clarification to your post, that could be helpful.
Please refer to this page for how to post code nicely on here : Using code tags properly