There are a couple of ways to fix poke thru in poser.
 
Poser 7 introduced the Morph tool which can be used to fix poke thru in some cases. Unfortunately the Poser 7 moorph tool only works on one group at a time so using it near group edges can give some bad results. This was "fixed" in Poser 8. When using the morph tool use VERY low strength setting, much lower than the default setting the tool starts with. You can spawn a correcting morph in the figure with this tool.

in some cases you can use smal scale adjustments to the group to fix poke thru, at least from the camera;s point of view.

Another fix for poke thru IN Poser are the magnets. They are a really valuable tool that takes a bit of practice to learn. These have the advantage of being able to operatae across group lines in Poser 7 as well as Poser 8, You select a group to start the load the magnet to then in the properties pop-up you can add other groups for the magnet to affect. Magents can be saved in the prop folder for and loaded into other scenes if needed. These can also be used to create a morph.

Naturally this is just a sketch of the available tools, you should read the manual to learn to operate them to the best effect.