Momentum and inertia

I’m making a VR where where the player can grab a wall with the control and move himself around the controller. It accomplishes this by setting the player.transform.position relative to the offset from moving the controller so it fluidly moves the player object around the controller. And it works really well except I want to add inertia or the ability for you to swing, let go, and have a velocity applied based on the momentum however I do not know where to start.

add a rigidboy to the object and move the object using the RigidBody.MovePosition rather than transform.position