Help with joining items to two characters

iceyiceybaby

Hi, I want to connect 2 characters, say with handcuffs. I can get them lined up etc but how do I fix it permanently to the figure?

Example, I want it so when I move the arm of one it pulls the arm of the other that it is connected to so I can correct the pose.

So far I parented the cuff to the wrist but when I do the other end it loses the first join.

Thanks in advance!