Is there a way to connect typeform to salesforce records based on salesforce id?

Wondering if there was a way that people have connected typeform responses back to salesforce based on the id that is passed in the form? I intend to send a typeform via email with a custom link that passes their salesforce contact id. Ideally I want to match on the Id for form responses but am not seeing that as an option in the connected app. 

Thanks