This paper addresses the important issue of estimating realistic grasping postures, and presents a methodology and algorithm to automate the generation of hand and body postures during the grasp of arbitrary shaped objects. Predefined body postures stored in a database are generalized to adapt to a specific grasp using inverse kinematics. The reachable space is represented discretely dividing into small subvolumes, which enables to construct the database. The paper also addresses some common problems of articulated figure animation. A new approach for body positioning with kinematic constraints on both hands is described. An efficient and accurate manipulation of joint constraints is presented. Obtained results are quite satisfactory, and some of them are shown in the paper. The proposed algorithms can find application in the motion of virtual actors, all kinds of animation systems including human motion, robotics and some other fields such as medicine, for instance, to move the artificial limbs of handicapped people in a natural way.