Pulling Force?

I’d like to simulate with the physics engine two objects being pulled together, as if by a rope attached at a single point to each object, with tension being added in the rope by a property driven by other game logic.

How could you do this, either with physics, constraints, or python?

object2.applyForce((object1.worldPosition-object2.worldPosition)*ForceMultiplier ,0)

object2.applyImpulse(AttachmentPoint , (object1.worldPosition-AttachmentPoint)*ForceMultiplier )

Attachment Point = object2.worldPosition+Vector([x,y,z])

(Vector = Local Offset)