What is the best way to implement friction between moving objects?

Question

Unity

Hello, please tell me how best to implement friction between moving objects.

On the gif , in the first case, I just move the green cube, while the purple one does not cling to it.
In the second case, I made the purple cube a child of the green one (this is how the result should look, and they should not be in the same folder)

I tried to increase the friction of the Physic Material, change the Drag and Angular Drag of the Rigitbody - there is no result.