How to use body forces and body gyro correctly?

Hey guys I've been playing around with body forces and body gyros for a few hours not to no success. I want a brick to go to where i click gradually and stop as soon as it reaches where i click.

Currently i have a system which causes the brick to move to where i want but wont stop till after the point as it needs to slow down and its also currently rotating like crazy, i want it to face the direction it is traveling.

Below is my code.

local UIS = game:GetService("UserInputService") 
local plr = game.Players.LocalPlayer
local mouse = plr:GetMouse()

local speed = 20
local selectedUnit = nil 

UIS.InputBegan:connect(function(input)
	if input.UserInputType == Enum.UserInputType.MouseButton1 then
		if mouse.Target then 
			if mouse.Target.Name == "Unit" then 
				selectedUnit = mouse.Target
			elseif mouse.Hit then  
				if selectedUnit then  
					print("move unit")
					--selectedUnit.CFrame = mouse.Hit
					print(selectedUnit:GetChildren())
					selectedUnit.BodyGyro.CFrame = CFrame.new(selectedUnit.Position*Vector3.new(1,0,1), mouse.Hit.p*Vector3.new(1,0,1))
					selectedUnit.BodyVelocity.Velocity = CFrame.new(selectedUnit.Position, mouse.Hit.p).lookVector * speed
					repeat wait(0.5) until (selectedUnit.Position - mouse.Hit.p).magnitude < 3
					selectedUnit.BodyVelocity.Velocity = Vector3.new(0,0,0)
					
					selectedUnit = nil
				end
			end
		end
	end
end)  

Any suggestions, improvements, tips or even a complete re-haul of what i'm attempting would be appreciated.

You should use a BodyPosition, as that's pretty much exactly what it's for. And might not need a BodyGyro. Here's my attempt.

local player = game.Players.LocalPlayer
local UIS = game:GetService('UserInputService')
local mouse = player:GetMouse()

UIS.InputBegan:connect(function(input,gpe)
	if gpe then return end
	if input.UserInputType == Enum.UserInputType.MouseButton1 then
		--mouse click
		local char = player.Character
		if char and mouse.Target then
			local head = char.PrimaryPart
			if head then
				local p = mouse.Hit.p	
				
				local part = Instance.new('Part')
				part.CFrame = CFrame.new(head.CFrame.p + (p - head.CFrame.p).unit * 3 , p)
				
				local bodyp = Instance.new('BodyPosition',part)
				bodyp.Position = p
				bodyp.MaxForce = Vector3.new(1,1,1)*1e4
				bodyp.P = 1e4
				
				part.Parent=workspace		
				
				game:GetService('Debris'):AddItem(bodyp,10)	
				bodyp.ReachedTarget:connect(function()
					bodyp:Destroy()
				end)
				
			end
		end
	end
end)