Actually, you don't set Master and Slave.

Let me try to describe the situation.

The hands of Figure A grab the ankles of Figure B.
You want to pose the hands/arms of Figure A, and you want the ankles/legs of B to automatically follow the movement of Figure A's hands.
That's why I call the arms of Figure A the masters, and the legs of Figure B the slaves. When a master moves, its slave must follow.

To set up the "master-slave" relation, you should do the following:

• Pose Figure A and Figure B so that Figure A grabs the ankles of Figure B. Tip: switching on inverse kinematics for the hands of Figure A allows you to precision translate them using the parameter dials. Turn off IK again when you want to twist/bend the hands. Same goes for the feet of Figure B
• make sure Inverse Kinematics for the arms of Figure A (the masters) are turned OFF
• make sure Inverse Kinematics for the legs of Figure B (the slaves) are turned ON
• parent the feet of Figure B to the hands of Figure A.

Now you can move the hands/arms of Figure A and the feet/legs of Figure B will automatically follow the movement.

Hope this is somewhat clearer.

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