How do I apply physics to a part when I change the length of a rope constraint?

I'm trying to create a system where you can tether two parts together with a rope constraint and the rope will quickly real in at a consistent pace. The trouble is, whenever you change the length of a rope constraint and it's shorter than the current distance of the two attachments, the parts are teleported instead of applying physics.

My question is: Is there any way to replace teleportation with realistic physics when two parts are reeled in by a rope constraint?

Even if you don't have an answer, a point in the right direction would be greatly appreciated. Thank you!