From the start pose, I needed the characters hand to slide under the window and pull the frame up. To do this I simply keyed the hands under the frame and set the keyframe tangent to Automatic to let the transition be smooth. I then keyed the curling of the fingers to more of a grip instead of open palm to add the effect of grabbing the frame.
I started this process by keying in the hands sitting where I needed them for the vault. However I found that the hands wouldn't rotate correctly as it was simply taking the quickest route to that location instead of thinking if it was accurate. Since the wrist wouldn't bend normally the way it wanted, I had to key it rotating its way back to the location. This fixed the issue but made the animation slightly more jagged.