First, I'd save a copy of the original - in making people 'part', you're prob going to want to use the same parts over and over for diff positions, and that can't happen easily if you only have one path. So I agree with Lazur (have learned my lesson the hard way).
Basically, put the 2 rectangle objects where you want them to be as the end result (overlapping), you might want to add a few nodes to each before starting (ie at the top and bottom of the arm), so your shape remains the same. Select just the overlapping nodes on both objects and go into the node tool, select join nodes. Then finagle it any way you want. That to me is the easiest way.