I've done lots of these on big feature films and there is quite a bit to know.
You should check out Tim Dobbert's matchmove book and also his Gnomon DVD on Object Tracking,
http://www.amazon.com/Matchmoving-Invisibl...2100&sr=8-1
http://www.thegnomonworkshop.com/dvds/tdo02.html
Some of the studios have special tools that allow a 2D track to drive the motion part of the IK chain, etc.
But the reality is that most character "matchamation" is primarily hand tracked. It is one of the more difficult and Zen like aspects of matchmove.
You must identify why you need to matchmove of the character. If you want to generate a CG shadow from a blue xcreen actor, then you focus on matching the feet, e.g.
Entire chapters of books are written on character matchmove, but here is a starting point:
Find a good frame where the 2D image of the character is "neutral". Start line up at that frame.
IK biped characters generally animate from the hips. Line up the CG hips so that the pelvis points the same way. You may want to attach rods to the hips that point out to the x and z axis.
Make sure that when you bend the knees properly, that the height of the character is still correct. If not, you'll need to move the character closer or farther away in screen Z space. Or, the limb length will need to be changed in the rigging.
Be sure to watch the matchamation from an "inspection camera" (not the render camera) looking at your character from the side, off axis from the render camera. It is common for the animation to look smooth from the front, but to be very jerky in screen Z camera space.
You may e-mail me with questions, but unfortunately, the easiest way to learn this is to work with a supervisor who has done it before. That's how I learned. Did lots of animated character matchmove on X-Men2, ScoobyDoo2, Garfield, etc.
Again, check out the Dobbert book/DVD