How do I make the upholstry of a vehicle panel looked puckered by a door handle? Simples. 
I just want to create a depression in the panel, as if it was made of leather and the door handle was installed against it. 


Here's the best example I could find. Note how the panel around the hardware with the red thing hanging out has caused a depression.  I tried to create more loops and add an inset area on the panel, but that caused the panel to act weird due to my subsurf modifier. I'm hoping there is some deform that will "push in" based on another object
As example, my monkey is the door handle, and my cube is the door panel.


Use for both a subsurf modifier.
Overlap the monkey with the cube
Enable the cube as canvas and set type to displacement

Enable the monkey as brush and set paint source to mesh volume