One character picks up another

What is the way of making interection of characters when one character picks up another while the other one continues to make some kind of animation?
Some kind of parenting pegs at given time
Thank you

Make a copy of the rig of the character being picked up, and connect it to the arm pegs of the character picking it up. Then delete it’s exposure to the point till it’s picked up. and at the same time delete the exposure of the character that isn’t attached.