Unwanted sliding between Configurable Joint and Connected Body


I have a game object with a rigidbody component, and a configurable joint component:

(I would have attached an image of the rigidbody component as well, but I am unable to attach more than one photo at this time.)
This game object works perfectly in every regard except this:
When the game object is pointing forward, and its connected body rotates, which is also the game object’s parent, the configurable joint does not rotate with it and remains pointing forward.

This is normal, and the configurable joint is working properly, I’m sure, but I’m unaware of how to achieve the affect that I desire: when the connected body turns along the axis in which the configurable joint is free, I want the configurable joint to turn with the connected body. Basically, I would like there to be friction between the configurable joint and its connected body.