VERY tricky. It's possible to catch selection clicks with Python, but it's not possible to determine what polygon of the target object has been clicked.
There is a fairly easy alternative: inverse kinematics and the orthogonal views. If you want to place Victoria's right hand on the armrest of a chair, do the following:

• Turn on inverse kinematics for her right hand
• Switch to front view
• Select her right hand and drag it to the correct X-Y position.
• Switch to left hand view
• Drag her right hand to the corrrect Z position
• Fix the forearm, shoulder and collar orientations. They might react strangely to the dials, since the hand is pinned in place.
• Turn off inverse kinematics for her right hand
• Fix up any "impossible" bends, twists and side-sides.
• Repeat until the hand is positioned correctly (fine tuning).

I usually turn off inverse kinematics for the final render; the joints seem to look somewhat better when IK is off. Turning IK off will usually make the hand/foot make a small "jump", you might have to turn on IK again (no "jump"), fix up the position, and turn it off again.

The pen is mightier than the sword. But if you literally want to have some impact, use a typewriter

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