How to make the child object to match the location and rotation of parent object

I have 2 objects : A and B. I move and rotate object A randomly in 3d space. I keep B at (0,0,0) and it has no rotation . Now i want parent the B to A (B is a child of A) and i want B to jump to A position (and macth the A orientation as well), as now the (0,0,0) of B is at the center of A. How can i do this ?

Hey, try a ‘Copy Transforms’ constraint - you can animate the influence slider