Tutorials on IK and target helpers

I have been struggling with genesis 8 animation. I am doing the triceps dips (hands behind the body on a chair and moving body up and down). I can't get the hands to lock onto the chair so in the animation they keep moving along the body. I don't think it is possible to parent the hand to the chair either so I started looking around for more options.
There is a lot of mention of "IK" and "target helpers" in the forum as the only solution to this problem. I tried to figure that out but it was too complicated. I couldn't even find where to insert target objects from. Nor did I get any luck on YouTube. So I was wondering if anyone can link me to a video tutorial where the use of those two features is properly demonstrated.
Thanks!