The natural constraints for the weak-field approximation to composite gravity, which is obtained by expressing the gauge vector fields of the Yang-Mills theory based on the Lorentz group in terms of tetrad variables and their derivatives, are analyzed in detail within a canonical Hamiltonian approach. Although this higher derivative theory involves a large number of fields, only a few degrees of freedom are left, which are recognized as selected stable solutions of the underlying Yang-Mills theory. The constraint structure suggests a consistent double coupling of matter to both Yang-Mills and tetrad fields, which results in a selection among the solutions of the Yang-Mills theory in the presence of properly chosen conserved currents. Scalar and tensorial coupling mechanisms are proposed, where the latter mechanism essentially reproduces linearized general relativity. In the weak-field approximation, geodesic particle motion in static isotropic gravitational fields is found for both coupling mechanisms. An important issue is the proper Lorentz covariant criterion for choosing a background Minkowski system for the composite theory of gravity.