Animating a part's place animation / welding

How would I make it so that in an animation for ex. a character would place down an item and that item would then stay there or actually a better example would be :

" a character handing another character an item, so after the animation the character that got it handed to can keep carrying it in like its hand so it’s welded."

I am not aware of everything you can and can’t do with animation so I was wondering should I just while the animation is playing I’d script it so that I weld the part to the character and then weld it to the other character or can you animate the welding

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