I am not very good at CFrame.
This is how I have it now:
body:SetPrimaryPartCFrame (pos * CFrame.new(0, 0.15, 0))
How do I rotate it as well?
make CFrame.new(position you want in Vector3)*CFrame.angles(0,0,0)
Use CFrame.angles to set rotation. Use math.pi or math.rad(number) on x,y,z values of the cframe.angles to make it easier.