OK sorry it has been a couple of days, but work has been busy.

Lets try this: You should constrain the hand of figure 1 to the hip of figure 2. TO readjust the hand of figure 1 you need to select at the top of the Pose Window figure 2 and under the second selection options under Groupings select the Constraint Grouping that belongs to figure 1 hand. Notice the settings for the constraint object. there is a lot of rotation to make the hand line up. Also do not adjust the hand on figure 1 as it gets its values from the constraint object. With this setup I can move figure 2 and the hand tracks the hip.

Poser 5, 6, 7, 8, Poser Pro 9 (2012), 10 (2014), 11, 12, 13