How to let two characters touch/grab eachother without clipping? (best practices/techniques)

I’m currently layouting a game project that would contain hand-to-hand/grappling attacks. Are there any techniques/systems in UE4 that can help with avoiding clipping between characters while performing such moves (e.g. one character grabs the other, let the hand have firm contact but prevent it from going in to deep). It will only involve two characters at any time, so it can be computational expensive.

If there is no technical solution - any best practice tipps you could share to reduce the pain (besides animating carefully)