Using Object, Change Parent works even without the prop.  The only issue is that the figure 2 body part changes scale to match the figure 1 (parent) body part or body.  In the actual animation scene Figure 2 is 90% scale.

That's fixed by scaling the child body part (each of Figure 2's hands) up.  Yup, you'd think it would be scaling it back down, but it's scaling it up.

Thanks for the help.

 

Step 1:  Set IK on for Figure 2.

Step 2.  Figure 2 left hand - Object, Change Parent to Figure 1 right hand. 

Step 3.  Figure 2 right hand - Object, Change Parent to Figure 1 left hand.

Step 4.  Because Figure 2 is 90% scaled.  Scale up each of Figure 2's hands to 110%.