Click on support at the top of this page and check out the wiki under movement. If you just have it constrain or accelerate towards it will not work if your scene is bigger than 480x320. The wiki explains how to fix this.
For the rotate - Use rotate to and put the touch coordinates in (again look at the wiki and apply the follow mouse idea to this as well if the scene is bigger than the screen)
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For the rotate - Use rotate to and put the touch coordinates in (again look at the wiki and apply the follow mouse idea to this as well if the scene is bigger than the screen)