I dont know of any tutorials. I usually put the two figures into the rough body position that I want , and then start tweaking legs and arms.

You can turn ik on to lock the positions of hands and feet , and then tweak thigh and shoulder to get limbs clearing each other.

You can turn on collision detection to see where things hit.

Using the morphs to do stuff like flatten breasts, thighs, buttocks etc adds a bit more realism. I tend not to bother if the part isnt obvious.

mostdigitialcreations website has a bunch of free couples poses which may help as starters. Poser has some male and female carrying and pulling poses also.