You can do that with physics links, but it's tricky. If you have multiple poses, like in Timeline, physics links need to be off when you change poses, or the characters get all twisted. The link can be re-enabled by a trigger, say 0.1 second after the pose is loaded. In my
Around the World scene, the guy has his hands on her hips in the doggy pose. His hands keep moving with her hips. See screenshot. If you only have one continuous motion in the whole scene, then the physics link may be safe to leave enabled. In my scene, the poses and motion is all done with BodyLanguage, which is safe, because BL loads the pose without letting any of the motion start immediately. The way you enable and disable the physics link is to define the Link To items in the pose, but have the position or rotation mode set to On. The trigger that enables it sets position (and/or Rotation) to Physics Link. In this case, I just used position. Note that you usually want to use the bone (pelvis) not the control node (pelvisControl).