Character pick up Ragdoll

Hey! I need some help from you guys :)

so i want that my character can pull/pick up a Ragdoll around, that means grabbing his head, arm, foot, whatever and pull it around like a pillow. at the moment things look like this:

http://forum.unity3d.com/attachments/ezgif-com-optimize-gif.159949/

so, i have a player, and a ragdoll. but how can achive the stuff i describet before? by the way, iam using a gamepad, so please dont involve a mouse pointer in the solution :) also keep in mind that there can be more than 1 ragdoll in the gamescene

the problem iam facing are:

• how do i move my hand to the hand of the ragdoll for example? (iam owning FinalIK by the way if that helps)

• how do i stick the hand from the ragdoll which iam grabbing to the
  hand of my character?

• and how to do this dynamicly with several ragdolls and then only
  grabbing the nearest/reachable ragdoll?

thanks!