Pinning?

I am having trouble pinning a figure in a particular position to another object.

For example:  If a figure is riding a bike.  I want to pin the hands to the handlebars (and not necessarily at the end).  This way I can make an animation of the figure riding a bike.  I don't want to reposition the hands when I move the legs, head or torso.  Also, If I turn the handlebars, the hands and arms should follow the movement of the handlebars.

Is this possible and if so, what would I have to do?  

 

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