Parenting Controller to Joint MEL Script
Create Nurbs Circle
Select the Nurbs circle
Copy and paste this to the MEL field in the bottom left
parent -add -shape nurbCircleShape1 jointname;
***Name the nurbCircle1 whatever the nurbs circle name is and the jointname must also match the joint's actual name.
Hit F8 component mode - select the curve and rotate the CV to your liking.
Name the controller
Delete the original curve
Then make a new curve and do another one (do not use the original curve for other controllers)