1. Rough pose your animated figure, to get the hips, abs and chest to the final positions without regard to IK for the hands. You can turn it off or on.

2. To keep the parts of the animation where the hands are positioned right, lock them in place by adding keyframes for the entire hand sequence, then turn on IK... Poser will add keys to the collar, sholder and forearm of the respective arm.

3. With IK on, pose the hand to the object you want the hand to stick to at the start of the respective sequence (as where you want the hand to start holding the hip or broom or whatever...) This is a good saving spot.

4. Useing the Hierarchy window, re-parent the hand from the Body to the object you want the hand to stick to. The hip, in this case, but it can be another actors hip, or other body part, or a table or broom handle, ect. The trouble is that if the other object is a different scale, the hand will blow up, so you cant' use the file again. You can save it to a new name, then copy the non-IK keys to the good file like in step 9 below. If you arn't doing that much, you can do steps 4 to 9 without saving in between. If the other object is the same scale, you can usually reparent without damaging the figure. Just remember to put the hand (or foot) back onto the figure before you add the figure to the library, or it won't have that part.

5. Remove all the hand and arm keys from the begining of where you want  the hand locked to the object, to the end of the 'holding object' frames. Now when the other object moves, the hand will follow. Ignore the arms for now, and pose the other object over the course of the sequence. The hand and arm might blow up, and they won't be exactly right, but don't wory about that just yet. Just pose the object, and you can fix the hand/arm later.

6. Fill all the key frames for the hand, but leave the arm keys empty. (except for the parts you already like, because they were fixed in place in step 2)

7. Turn off IK for the hand... Poser will fill all the empty arm keys where you set the hand keys.

8. This is the tricky part, and you may need to save the sean under a new name to copy the frames from. If it's not too complicated, you can do this part without changing to a new file, but if you do a lot of work, you will want to save it in case Poser crashes. ---- With IK off, copy all the hand and arm keys for the portion of the animation you are working on. It doesn't hurt to copy the hand/arm frames for the full amimation if the animation isn't too long or you have enough system resourses. (PP 2010, with only 12gb memory on a i7, crashed a lot when it had to re-parent to another actor- especially when the scales were different, but 2014 with 32GB works better)

9. OK, the tricky part... With the arm/hand keys in your clipboard, (Ctl C, for windows) turn IK back on for the hand. Use the Hierarchy window to reparent the hand back to the Body, turn IK back off, and delete all the arm/hand keys (for the portion you have in the clipboard, or all if you saved them all to the clipboard) The white selection icon will still suround the part you saved, so you can hit delete, or use the - button to remove all the keys that were set when you coppied the keys, but you need to reselect the frames to past the non-IK keys back in. Sometimes yoiu can paste the keys without re-selecting, but if it doesn't paste, then reselect.

At this point you should have the hands stuck to the hips, or whatever animated object, but the arms will be messed up. This is a good saving spot.

10. Turn IK back on for the hand. Go to the last spot the arms are posed right (if any), and set the keys for the collar, shoulder, and forarm to linear. Remove 10 or so keys from the 3 arm parts from the good spot into the bad, then go to the next spot the arms are good again. Set the arm parts to linear, and erase all the keys between the two good spots in the animation. Go out about 10 keys into the bad arm spot, and set the zero the collar and forarm. (Alt- click the 3 paramiter dials for the 2 arm parts) Set the forearm bend to 25 for right, and -25 for the left. Do this on each end of the bad arm sequence.

11. Now adjust the shoulder dials to drag the arm where you want it for the sequence. Fix the arm, then go to the next place it starts to look wrong, set the shoulder key where it still is right, then adjust, but only move the shoulder dials, unless the arm is fully extended. In that case, set the key for the forearm before and after the arm extention, then change the forearm bend to 0 or up to 25 negitive (positive for the left arm), then adjust the shoulder.

12. When you are satisfied with the arms, make sure you still have the hand keys all full, and turn off IK. for that hand. Open the graph, and look at the hand peramiters. IK will through some of the dials off by 180 degrees. Select those spots, and move them to line up with the reasonable values. (do twist and bend first, then side-side. Sometimes side to side can't be fixed exactly by just looking at the graph, and you have to  remove some of the keys)

13. Fine tune the hand movement.

If you need to change the hip through chest, the hand will move unless you turn on IK first. In that case, as long as you only move the base parts while IK is on, you will only need to fix the arms as in steps 10 and 11.

Hope this helps... it's complicated, but much easyer than trying to pose individual key frames.