When animating a character arm or hand movement, I want the hand to reach behind the torso (hidden by torso), but can't seem to figure out how to do this using hierarchy. Is there a tutorial that addresses this type of movement? 

Not sure what you mean by hierarchy, but if you have a basic movement then want to place the hand specifically somewhere, just use the basic motion and then Edit Motion Layer in the animation tab. You should be able to drag the hand anywhere you want via key framing.

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Yes. I understand how to move the arms (bones) etc around. That's not it. For example:

Let's say I move the L hand in front of the character's belly. The L Hand appears in front of belly. Then i move the hand/arm around so it looks as if I were trying to hide something behind my back in my hand. The belly/back would block the view of the hand. Looking for a tutorial that can show me how to "hide" the hand when it moves behind the belly/back of the character, when it's in front of the belly, appear, behind the character, disappear. I'm probably explaining it very badly. It's like moving on top of one layer (L hand layer over bellly layer) and then behind the layer (L hand layer under belly layer). 

Ah! But of course! Thanks!