diff --git a/Runtime/HumanoidControl/Scripts/Physics/HandPhysics.cs b/Runtime/HumanoidControl/Scripts/Physics/HandPhysics.cs
index 18e9efd..3c229bc 100644
--- a/Runtime/HumanoidControl/Scripts/Physics/HandPhysics.cs
+++ b/Runtime/HumanoidControl/Scripts/Physics/HandPhysics.cs
@@ -417,6 +417,8 @@ namespace Passer.Humanoid {
                 float distance = Vector3.Distance(handTarget.hand.bone.transform.position, handTarget.forearm.bone.transform.position) - handTarget.forearm.bone.length;
                 if (distance > 0.05F) {
                     handTarget.colliders = SetKinematic(handRigidbody);
+                    // make sure the hand returns
+                    PlaceHandOnArm(handTarget, handTarget.forearm.bone.targetRotation);
                 }
             }
 
@@ -425,6 +427,11 @@ namespace Passer.Humanoid {
             colliding = false;
         }
 
+        protected void PlaceHandOnArm(HandTarget handTarget, Quaternion forearmRotation) {
+            //Debug.Log("PlaceHandOnArm");
+            handTarget.hand.bone.transform.position = handTarget.forearm.bone.transform.position + forearmRotation * -handTarget.outward * handTarget.forearm.bone.length;
+        }
+
         public virtual void UpdateRigidbody() {
             if (handRigidbody == null) {
                 UpdateGrabbedMechanicalJoint();