I just searched some more and found an answer from ockham on a diferent thread:

"The most promising trick would be to use a dummy prop like a Ball.
Put the Ball where the hands join.  Start the scene with IK on for the
joining hand of each figure, probably off for all other limbs.  Parent
the two joining hands to the Ball, and then do most of the movement
with the Ball.  Of course you'll have to adjust the rest of both figures
at the same time....

As the grip breaks and the 'victim' moves away and down, you can move
the two figures apart by increasing the Trans parameters of the
victim's hand.  This is sort of counter-intuitive, because you're separating
the hand from the ....."

It looks like a good method.

I find it amazing that the simple function of parenting body part to body part has not been worked out and provided in Poser....I mean, isn't it quite often that people need to animate 2 figures who are affecting eachothers body parts?

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