How To Make An Enemy Grab The Player? (Or The Other Way Around)

Recently just downloaded a Blender Model of this guy after some people and a teacher at school were talking about games and i got an instant brainwave to make a small game:

Now, i want him to be able to grab the player during the jumpscare, and if the player presses a button quick enough the character grabs him back and holds him away instead of instantly dying. For the life of me i cannot figure out how to do this with regular Unity animations involving animator controllers and timed events and triggers. Like, if i make the animations i cant figure out how to make it fit together and actually look like they are grabbing each other, since it probably requires extreme precision to fit them both together and not look like he is grabbing thin air, on top of that the player model (Which is first person by the way) is controlled by a more dynamic procedural animation scripted by my partner and Inverse Kinematics since as i already demonstrated animations are not my thing. How would i go about achieving this with a script? Im hoping for something like this (Obviously slightly different but you get the picture):

Unity has an IK system: