Object and gravity

Hello, I hope somebody can help me with this.

When I put a rigid body on a object the gravity will pull the object down till it hits the terrain.
Is there a way I can stuck the object directly with the ground without precisely checking by myself if he almost hits
the ground, or when the object is to high it will take some seconds before he hits the terrain.

I want the object to be directly on the terrain without precisely doing it by myself or wait till gravity does it.

Raycast downwards and just get the object to be at hit.point