How to authorize a charge on customer credit card in lieu of a deposit for an equipment rental?

I haven't started up yet, but if renting equipment to a customer, what service or setup do I need to be able to authorize a charge to their credit card in case I need to charge them for not returning the items?

When renting a Uhaul truck for example, they do a temporary authorization to your credit card in case you damage anything.

I've used authorize.net to accept payments through a web site, but I would need a way to send the customer an invoice for them to pay online, and a way to do it in person. What is the simplest solution?

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