You really only need to manoeuvre the hands to be in the right position (which is easier said than done, mind you). Parenting is not necessary unless you're doing some advanced animation stuff. How to get hands in the right place: Select the hand you want to move. Turn on Inverse Kinematics (IK) for that arm. The hand will now have translate dials which you can use to pull it this way and that. The arm joints will adjust automatically as long as you don't go too far. Use the hand camera to get a better view.