I have an object animating using position and rotation keyframes.
I want to parent objects to this layer, but need them offset in time.
I would prefer not to use expressions, but if it is the only simple way
to go, would appreciate it of someone can give me the expression for this.
You will have to use expressions, but you're lucky, as the Expression Sensei (Dan Ebberts) just have exactly what you need on his website, and it's even totally explained: http://www.motionscript.com/mastering-expressions/follow-the-leader.html
Excellent. Thanks for the help!