Adding Membership Information To Constituent via API Call

I am trying to add membership information to a constituent via API call.

I am making a POST request to create a constituent on

Is it possible to pass membership information into this in order to assign the constituent a membership? If not, is there any other way I can assign a membership to a newly created constituent or to a constituent that already exists via API call?

Looking at

It seems that constituent has a membership entity similar to Address which we can pass into the API call, but I cannot get membership to work.