using hydrogen on asteroid as fuel for rocket to push asteroid

if there are mineral rich asteroids containing hydrogen, 

then a rocket could be sent to connect with one of those asteroids 

and use that asteroid's hydrogen as fuel to push that asteroid closer to earth, 

but not on a path that points towards earth, 

but a path that points beside earth 

and then push that asteroid into an orbit around earth 

an asteroid orbiting earth could become a supply of raw material which could kick start near earth space industry such as space based solar 

and space manufacturing of rockets, space stations and industrial robots