You can blend keyframe animation and constraints on the same object. See Animate and constrain an object and Animation-Constraint blending workflow.
         
         When both keyframe animation and constraints are applied to the same object, a pairBlend node is automatically generated. See pairBlend. All the object’s animation and constraint channels are linked to the object through this  node.
         
         You can modify the weight of the animation-constraint blend to generate various effects. This  attribute is on the  node. See Blend Weights in the Channel Box.
         
         Note 
                  - Since animation-constraint blending lets you transform the constrained channels of a driven object, you must lock the constrained
                     channels that you want strictly influenced by the target objects.
                  
- After transforming a constrained object, you can retain its new translation, rotation, and/or scaling by reapplying  from the  window. This prevents the constrained object from snapping back to its original translation, rotation, and/or scaling when
                     its target objects are transformed. 
                  
 
          
            Animation-Constraint blending examples
            
 
          
            -  A man runs to a parked convertible car, jumps over the door and into the driver’s seat, and then drives away. In this example,
               both the character and car models are animated, and various parts of the man are point constrained to the car door, seat,
               and steering wheel.
            
- A basketball player dribbles the ball, picks it up, and throws it to another player. The player that catches the ball pauses
               and then shoots for the hoop. In this example, the ball and all the players hands are animated, and the ball is parent constrained
               to the various player’s hands.