RigidbodyInterpolation.Interpolate

Interpolation will always lag a little bit behind but can be smoother than extrapolation.

JavaScripts

using UnityEngine;
using System.Collections;

public class example : MonoBehaviour {
void Awake() {
rigidbody.interpolation = RigidbodyInterpolation.Interpolate;
}
}

import UnityEngine
import System.Collections

class example(MonoBehaviour):

def Awake():
rigidbody.interpolation = RigidbodyInterpolation.Interpolate