How to pin a bone to another figure during an animation
I need help pinning a bone from Figure A to a bone on Figure B during a preexistent animation (using Timeline). My goal is to have Bone A (e.g., right hand of figure A) follow Bone B (e.g., a hip of) as both figures move. "Point At" obviously doesn't work in this case. Please advise on the best workflow. Thank you

Comments
This is what IK is for - you need an IK chain in the arm, and then you parent its target to the other figure's hip. Be aware, however, that IK in DS is not very rigid - if the pose pulls the hand away it will allow that to happen, rather than locking it in place and refusing to take the full pose.
Might work for you (haven't tried with a non-object and don't know whether you could cheat and use a null-object both characters hold etc): https://www.daz3d.com/limbstick-for-genesis-9
I created an IK Chain as the child of Figure2's left hand and when I change the Chain End to the Null I've added as a child to Figure1's hip DAZ crashes.
this is the Exception Reason text:
Nevermind that I had to create the Null as child to the scene. But when the animation starts the left hand just goes back to its place with minimal changes to its translation.
This works very well for me. If you want a couple to hold hands or have a character hold on to a steering wheel and make turns left and right, it works great. I use it for that quite a bit. I also use it to "stick" the character's feet to a bike pedal, and when you rotate the pedals, it does a good job of moving the entire leg just as you would think a person riding a bike would do. Most of my work has been with the Genesis 8 limbstick, but I would assume you would have the same results with the genesis 9.