The problem occurs when you place the hand on the hip and you configured the entire figure as the collision object (without excuding the hands). When setting up the dynamic cloth scene you should always set up a short animation. During this animation the hand may actually penetrate the hip or come so close there isn't any space for the cloth to comfortably fit in (considering the distance it should keep from both hip and hand).

Also during poke throughs the cloths actually intersects (penetrates) with the collision object. Most of the time this fixes itself in the next frame (but not always).