Here's a tool. Really easy to use, and works with Maya 2011. One of the reviews said it didn't orient the joint to the child, but it worked fine for me.
Also, in case someone finds this who doesn't know how to bind the skin to the skeleton, just select the skeleton root, select the mesh, and go skin > bind skin > smooth bind with default settings. That's what I did anyway.
I wish he would not have skipped these details as I am completely new to rigging. Been a great learning tool otherwise though.