Trying to attach 2 character joints to an object.

I have these hands controlled with character joints so they move around, I'm currently stuck trying to make these hands hold onto an object. It's easy to parent one hand to the object I want them to hold, however only one hand is holding it at that point. It's a basic question but for some reason I can't figure it out. Thanks for the help ahead of time! I'd like the arms to still freely move left and right but keep the item between the hands as it sways.