Still having trouble with adding joints, can someone talk us through it again?
Place a limb, either an arm or a leg, doesn't matter, I'll be using an arm for this example.
So you got your arm in place.
Now, take off the hand itself so it looks like this:
Now grab another limb, and then hold control to attach it to the end of the other arm.
Tada!
You can do this as many times over as you want.