I suggest using segments to create any kind of epic animation. A good trick is when you’ve finished some action, he picks her up and sets her back down, as soon as she is safely back on the floor save the animation. Advance to the last frame and use the Edit menu, Memorize all. Step back to frame 1 and use Edit menu, Restore all. Delete the rest of the animation. The easiest way to do this is re-time your animation from Frame 1 of 1. Now, IMMEDIATELY do a File, Save As, and give this new segment a unique name. Continue animating from here.

Each time you have a successful segment or action, save the file and begin a new segment. Each time you must use IK to achieve an action, use Parent to attach a child, each time you wish to detach a child FROM a parent, begin a new segment. Years ago I worked on what I consider an epic animation and generated no less than twenty one Poser files.

You will be glad for the segmented approach when it comes to rendering too. I don’t think you want to wait hours or even days (weeks?) to render out an entire masterpiece only to find some small error. I used to key frame by day and render at night. Post here with questions and someone will know or suggest an answer. I can’t tell you how much I’ve learned from this site.

I use Poser 7 (from 6, 5, 4 ....) and so I am not sure if some new glitch was worked into Poser 9 that I don't know about.  Maybe someone will answer as to the way IK has changed along with the upgraded versions.