I am not NOT looking for preset poses, but I might use them if I can change them into what I have in mind. I want to know how to create poses where two or more human figures make contact (ex. hugging, wrestling, carrying, pulling). Please provide any tutorials that you think would be useful for this purpose. Thank you!

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.

You need to make a separate pose for each figure. Using the 'Body transformation' option when saving a pose is normally a bad idea, but in the case of couples poses it is usually a good idea. Using IK when setting up the pose can help, but I recommend turning IK off before saving any pose.

You may want to consider parenting one figure to another, or making both children to another prop (I use the flat square) so that both figures can easily be moved together without messing up their relative positions.