Moving a object attached to a mannequin hand

Hello everyone,

I programed a level where the player moves a cube using the keys < and >.
Now I want to attached the cube to a mannequin hand and make it to follow the cube translation.
The idea is to create the impression of the cube being moved by the character hand, while the opposite occurs in the mechanics.

I’m not familiar with rigging and animations, thus I would like to ask you if my idea is feasable.