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Modularization in construction involves erection of large and heavy prefabricated modules at the job site. Modules, especially in industrial plants, are required to be lifted without any tilted angles vertically and horizontally to prevent applying bending moments to the lifting lugs and structural components. Configuration of rigging elements, which are the link between the crane hook and the module, plays a vital role in the load distribution to the rigging components. In practice, designing a rigging assembly to ensure safe and successful lifts is a time-consuming and tedious process relying heavily on guesswork, especially when the module's center of gravity is offset. In addition, the pitch angle of the module remains unknown until it is lifted, thus raising safety issues regarding the failure of rigging components. To overcome these limitations, this paper proposes a mathematical-based design framework which consists of: (1) collecting the module information; (2) designing a preliminary configuration by selecting the rigging components from the database; (3) Optimizing the number, size and capacity of the rigging components selected for the preliminary configuration in order to ensure that positions of module and spreader bars are set on parallel lines without tilted angles; and (4) reporting the list of used rigging components and visualizing their configuration as the output. To validate this framework, this paper uses a case study which designs the optimal rigging configuration for a 4-point pick module based on the inventory availability.