Help with proper joint needed.

I'm making a character controller where my character is rolling on a ball. But i dont want to add torque to a ball to move my character. I have got capsule with UpVector joint and I'm controlling it by velocity. Now what i need is a proper joint so I can put my capsule over ball, but still i want my ball to have free roll possibility in every direction. Something like Ball and Socket http://newtondynamics.com/wiki/index.php5?title=Joints but i want my ball to be inside socket. Just rolling in every direction staying in one place (relative to the parent body) .