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Each wrist can be tied and secured separately with one wrist tied to one arm of the chair and the other wrist to the other arm of the chair as well, as this makes it quite difficult for them to try to get free - especially when the rope is cinched.

To tie their hands, pull them behind their back and wrap the rope relatively firmly around both of them, which will keep them tightly together. Cinch the rope between their wrists to ensure that they can't wiggle their hands free. Make sure that the rope sits right below their thumb joint, with the knot well out of reach of their fingers and try to finish your rope work with the knots as far away from their fingers as possible. Always ensure that their palms are facing each other, as this makes it extremely difficult for them to get to the knots as well.