The most common way, I think, is to use physics. On the example browser, look up the example "Physics: Distance Joint" and "Physics: Vehicle". Those should help you with learning the needed concepts.
If you want a more traditional look — non-physics based — then you can use hierarchy. Here's how you can do it with hierarchy:
Create the following objects:
• 9-patch "Rope"
- make its graphic a square filling up the canvas
- On the layout stretch the object horizontally
- set its "Origin" to "Left"
- add the behavior "Sine", "set Movement" to "Angle"
- rotate the object to make it start upright
• Sprite RopeGrabDetect
- make it a circle
Events:
When the rope is created, attach a RopeGrabDetect object to the rope.
• Event: Rope > On Created
- Action 1: Create Object > RopeGrabDetect, X = Rope.BBoxRight, Y = Rope.Height/2
- Action 2: Rope > Add Child > RopeGrabDetect
Attach the player when it collides with RopeGrabDetect.
• Event: Player > On collision with RopeGrabDetect
- Action 1: RopeGrabDetect > Add Child > Player
- Action 2 (after the previous action): Player > Set Position > X = RopeGrabDetect.X + (adjust to your liking), Y = RopeGrabDetect.Y + (adjust to your liking)