Rigging dynamic stuff for the character

Hello Blenderfriends!
I have a question about the rigging a Dynamic stuff on the character. is there any way to rigg an object so that it was a dynamic and meanwhile followed the rigg during the animation. for example i rigged a sword with the phisics but its really weird and it doesn’t follow the bones. i have 2 issues
1)rigged dynamic stuff (sword) doesn’t follow bones
2) rigged sword resting point (at the end of simulation) is horizontal instead of vertical. it should be vertical cuz swords sheathe heavy.

any proper rigging technique please?