Trying to do more with animation but have some hurdles here. 

As an example I'll use a swing.  Is there a way to parent the character to the swing?  Seems I can parent Props, but not characters.  I have used the Hieriarcy window for some work abouts.  I would like to think there may be an easier way.

Second,  let's say a handle on a crank, Is there some way to have the characters hand 'stick' to the handle while it moves around. 

I thought the Magnets would do this, but seems that's more for morphing.

Last,  parenting figures to figures,  again i've used the hieriacy window for this, but seems wrong.

Thanks for any help here.