Is there a way to keyframe parenting off and on?

I’ve got an animation where a character draws their sword. Normally to give a character a sword I would parent the sword to an empty then parent the empty to his hand bone, but I want the sword to begin in its sheets and only become parented to the empty after the drawing part of the animation has begun.

Is there a way to keyframe the parenting? or is there a better way to do what I’m trying?

Child of Constraints is the usual way, check out some of these tutorials:

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Thanks! That’s exactly what I’m looking for.

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