Maya Animation :: Parent Constraint Not Working Properly For Hand Writing

I am trying to get the hand to write with a pencil. I pose the hand and fingers holding the pencil and constrain (parent constraint with offset) the pencil to the hand's wrist controller and freeze the pencil's translation attributes. When moving the wrist controller creating key frames or translating in the UI, the pencil does not follow the hand/fingers. There seems to be an offset with the pencil that get worse the farther I translate or rotate the wrist controller. I tried doing the same with just the fingers and getting the same result.