Rigid body, allows the whole part to constraint to the reference point, by creating a rigid part. The relative positions of the regions that are part of the rigid body remain constant during the analysis.
You can use an MPC constraint to constrain the motion of slave nodes of a region to the motion of a point. The MPC is the abbreviation of "multi-point constraints" words.
If you only want to connect two points rigidly, using the MPC-Beam constrain seems appropriate. For better decision making, I recommend reading the text of the address below:
"What is the difference between a rigid part and a rigid body constraint?"