Rotate an Object using VR Controller as if you were rotating an object in real life

So I have just a basic cube for now. The goal is to be able to rotate the cube by “grabbing” it and rotate based on the controller’s position. However I don’t want the object to be moved and put in the player’s hand, only rotated. Like you are trying to examine an object from all directions in real life. What is the best way to replicate this?