diff --git a/Assets/Mirror/Components/PredictedRigidbody/PredictionUtils.cs b/Assets/Mirror/Components/PredictedRigidbody/PredictionUtils.cs
index bf65c5882..9beb0e700 100644
--- a/Assets/Mirror/Components/PredictedRigidbody/PredictionUtils.cs
+++ b/Assets/Mirror/Components/PredictedRigidbody/PredictionUtils.cs
@@ -258,8 +258,26 @@ public static void MoveFixedJoints(GameObject source, GameObject destination)
             FixedJoint[] sourceJoints = source.GetComponentsInChildren<FixedJoint>();
             foreach (FixedJoint sourceJoint in sourceJoints)
             {
-                // TODO not supported yet
-                Debug.LogError($"Prediction: {source.name} has a FixedJoint on {sourceJoint.name}. Prediction does not support joints yet, this won't work properly.");
+                // copy the relative transform:
+                // if joint is on root, it returns destination root.
+                // if joint is on a child, it creates and returns a child on destination.
+                GameObject target = CopyRelativeTransform(source, sourceJoint.transform, destination);
+                FixedJoint jointCopy = target.AddComponent<FixedJoint>();
+                // apply settings, in alphabetical order
+                jointCopy.anchor = sourceJoint.anchor;
+                jointCopy.autoConfigureConnectedAnchor = sourceJoint.autoConfigureConnectedAnchor;
+                jointCopy.axis = sourceJoint.axis;
+                jointCopy.breakForce = sourceJoint.breakForce;
+                jointCopy.breakTorque = sourceJoint.breakTorque;
+                jointCopy.connectedAnchor = sourceJoint.connectedAnchor;
+                jointCopy.connectedBody = sourceJoint.connectedBody;
+                jointCopy.connectedArticulationBody = sourceJoint.connectedArticulationBody;
+                jointCopy.connectedMassScale = sourceJoint.connectedMassScale;
+                jointCopy.enableCollision = sourceJoint.enableCollision;
+                jointCopy.enablePreprocessing = sourceJoint.enablePreprocessing;
+                jointCopy.massScale = sourceJoint.massScale;
+
+                GameObject.Destroy(sourceJoint);
             }
         }