Setting / Chaning the Reply to Email address

I’ve got a contact form in my site, when I get any email it says it’s from ‘wordpress@domain.com’, that’s fine and I know how to change that.

However, if I press reply then it’s replies to ‘wordpress@domain.com’, I want the email address to be from the person who sent the email without having to manually entering or copy and pasting the email, so I think the reply-to needs to be set-up but I have no idea how to do it?

Any ideas?