Immersive climbing system.

Hi I am working on a sort of puzzle game, where you are stranded in free space (no up or down). I wan't the game to feel as immersive as possible, meaning that i want to control each hand individually. I've spent alot of time designing how i wan't the controls to work and have now come to a solution i think could work intuitively: Left and right mouse button to grab with left or right hand. E and Q to pull in right or left arm.

My problem is though: I am not sure what would then be the best way to create this system. I haven't used joints that much, but i have a feeling they might be the way to go. Grabbing should be easy enough, that should just check whether there is anything to grab and attach the joint to the ray point. But pulling in, Which type of joint should i use to achieve that? and how? Or am i going about this all wrong? I'm not looking for you to do my work, just a push in the right direction :)

Thanks in advance //DrZarqawi Aka. DrOffensive