Found this on my live rock it has like a tube with several holes and has little "hands" coming out with "fingers" when you touch it it sucks the little hands back in
Its not a barnacle , worm or aptasia
Your photo is so fuzzy, it's hard to see what you mean (back off a bit, or tell your camera where to focus). However, from the description, it sounds like colonial hydroids.
See if you can find your critter here: http://www.lionfishlair.com/hitchhiker/hitchhiker.shtml
Just scroll down to "sessile" and look for your critter...
it has kinda a white or grey stalk that the tentacles come out of. If you touch it it sucks them back in the stalk. I found two more starting to grow a few inches from it on the same rock. The tentacles almost look like pulsating xenia but the stalk doesn't and they don't pulse