Creat link from Tasks and asssociated Contact

Creat link from Tasks and asssociated Contact

Is there a way that I can create a custom link from  Task Module and associated contact. 

If can explain.. I'm talking about the Customization : links feature  where you can build a link  and include part of the database information from the selected module either from contact, potentials, task and so on, in the url itself. but I need to be able to use information from the task module and get the address, name , phone from the associated contact to the task being seen.

The plan is that I was able to add a script to a already made PDF and that script will handle the information from that url and populate the pdf form on opening. but I need information from both module task and contact on that url.

I hope I am making my self clear.