Connecting two figures question

I'm working on an animation using genesis 3 figures and am wondering what the best way is to connect one part of a figure to another part of another figure. For example, if I wanted to place the hand of figure A on the shoulder of figure B and connect the two, so when I moved the torso of figure B, the hand of figure A would move with it. Is there a good way to do this and if so, elaborate as to how it can be done? Thank you!

 

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