Support taking through bracing or leaning while performing manual tasks is known to enhance the capability of the operator. However, simulation of this natural and biomechanically signicant behaviour in a DHM environment is either not possible or calls for signicant expertise and planning on the part of the simulation engineer. While manual simulation is time-consuming and error-prone, an algorithmic procedure is expected to enhance eciency and versatility in the simulation of diverse work environments and what-if scenarios. This paper presents a computational method for determining the location of and reaction at a support point on a given surface that is most advantageous for performing a task. The method also evaluates dierent possible support combinations and the associated optimal postures for performing a given task. The method is illustrated through one-handed reach and supported sitting tasks. Given the task and the environment, the simulation is performed without the need for any user intervention.