Do it right.

Animation/Constraints/Link constraint.

Place a biped in a scene.

Put the object to be lifted on top or perspective view.

Make the link constraint to a body part of the biped.

Delete Link.

Scrub to 1 frame prior to when your biped will pick up an object.

Link to World.

The object will not move.

Move 1 frame ahead to where your biped will pick up the object.

Add Link [usually to a hand.]

[The other hand will in turn be linked to the object.]

Auto Key Alternate method
You can put on Auto Key and start at frame 0 … this will place a key at 0 … then you do not have to delete key, you can proceed to one frame prior to pick up and then key to world a 2nd time … then key to hand.