How to overlay virtual 3D object on real world 3D object after object detection in ARKit

I am going to scan 3D object and saving reference object in Assets.xcassets/AR Reference Group folder. Then I am recognizing that 3D object. Now object get detected and I can place it in real world but after detection of that object, I want to overlay that virtual 3D object with exact position and orientation on real world 3D object. How can I achieve this?