This paper presents smooth trajectory generation that enables an aerial vehicle to catch a flying object softly. We model demonstrations of aerial vehicle's trajectories as a 2nd order dynamical system (DS) with Gaussian mixture model. So as to update parameters of a DS, Stable Estimator of Dynamical Systems (SEDS) is implemented. Also, in order to generate optimal and kinematically feasible trajectories, iterative Linear Quadratic Regulator (iLQR) optimal control framework is used. The advantages of our approach are accurate and fast reproducible framework. We validated the performance of the proposed algorithm with simulations.