To have a perfectly circular orbit, then your body initially needs to have exactly the right speed, if this speed is more than the speed for circular motion, but is less than the larger body's escape speed, then the smaller body will undergo an elliptical orbit, if it is equal to the escape speed, then the body will move along a parabolic orbit. Finally if it is greater than the escape speed then it will follow a hyperbolic orbit. Both para and hyperbolic orbits would cause the smaller body to leave the system.
To have exactly the right speed for either parabolic or circular orbits have a very low probability. i.e. 0 chance of occurring.