CFrame Lerping question?

game.Workspace.between.CFrame=game.Workspace.p1.CFrame:lerp(game.Workspace.p2.CFrame,.5)

So I run that code, and this is the result: (Back View) (Side View) It rotates correctly on the back side, but on the side, I would want it to rotate like this: (Picture) I thought that the CFrame Lerp method would do this for me, but it didn't. I also tried the Vector3 Lerp method, but it didn't rotate the back side. Is there a way that you can get the final result of both of these methods without them interfering with each other? Both methods give me rotations I want, but not at the same time.