Didn't I recently see a mod where it allows you to swap places with NPCs? It'd be very interesting to have so I can take control of other members of my group, especially if it allows me to take advantage of their individual abilities.

http://www.nexusmods.com/skyrim/mods/36047/?

Ahh, that's it. Shame it seems to have a lot of bugs. It's also a pity that it seems to have been abandoned...