Having an object clip to its parent

Hi, all! I am currently working on a character. When I hit ‘q’, he draws his sword from his back, and when ‘q’ is hit again he places it back on his back. I have the sword be parented to the back/hand on a certain point in the animation. This is all fine and dandy, but the whole time, an idle loop plays in which the character breathes, thus moving his back. The sword changes its relative position a lot, and does not always end up in the hand. This is unpredictable an unacceptable. Is there any way for me to get the sword to clip onto the hand bone of my character?
Thanks. And

Cheers! - YA
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When you set the parenting for the sword, make sure that it has the correct local rotation and position. If you can’t predict exactly where the hand is going to be at the moment that you parent the sword to it, you’ll have to put up with a one-frame position jump. If you make sure that the sword is in the right place at the moment it gets parented, you won’t have any problems afterwards.

Your other option is to use some kind of IK solver on the hand, but that’s getting a little more complex.

Is the sword-drawing animation able to be played when the character is running? If not, think about making it a full-body animation. That would solve the problem, too.