We theoretically analyze quasi-one-dimensional Bose-Einstein condensates under the influence of a harmonic trap and a narrow potential defect that moves through the atomic cloud. Performing simulations on the mean-field level, we explore a robust mechanism in which a single dark soliton is nucleated and immediately pinned by the moving defect, making it possible to drag it to a desired position and release it there. We argue on a perturbative level that a defect potential which is attractive to the atoms is suitable for holding and moving dark solitons. The soliton generation protocol is investigated over a wide range of model parameters and its success is systematically quantified by a suitable fidelity measure, demonstrating its robustness against parameter variations, but also the need for tight focusing of the defect potential. Holding the soliton at a stationary defect for long times may give rise to dynamical instabilities, whose origin we explore within a Bogoliubov-de Gennes linearization analysis. We show that iterating the generation process with multiple defects offers a perspective for initializing multiple soliton dynamics with freely chosen initial conditions.