Although my link deals with real rowing (on water), the principles should be the same. Here it also looks that it is important to keep the arms relaxed. Although you should have a secure grip with your hands, you should not pull with them but with your legs and your arms will seem like an extension to the blades which move with the movements of your legs. That creates a feeling as if your arms are "hanging off" the blades.

http://www.ara-rowing.org/rowing-stroke
It is a mistake to think that rowing is pulling with the arms, but many beginners do this.

* The legs should be doing most of the work here, with the arms relaxed and the back still straight and leaning forward.
* The hands follow the path of the arrow parallel to the boat. The feeling should be that of hanging off the blade handles.