Another method, if you wanted different points/transforms for different objects to align in the hands correctly is having each object have a hold offset that you use against a main grab point (Possibly in the centre of the hand). When you grab the item, compose the transforms of the offset and the hold point (To find the position in the world you are going to place the object in relation to the hand). Then using this new location, set the World location/rotation of your object you are grabbing, which will be in the correct position of the hand.
You can then attach this to the hand, but instead of using Snap To like Marco mentioned, use ‘Keep World’ as the options, so that it stays in it’s current position but not attached to the hand.
It does require a little more work and you have to fiddle with the offsets a little, but if you implement an interface, you can then have the offset position on each of the objects you might want to pick-up and position into your hand.