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import maya.cmds as mc
selection = mc.ls(sl=1)
toSelect = []
for item in selection:
   constraint = mc.listConnections( item+'.parentInverseMatrix[0]', d=1, s=0,type='constraint')
   if constraint:
      constraint = constraint[0]
      src = mc.listConnections(constraint+'.target[0].targetParentMatrix', d=0, s=1)
      if src:
         toSelect.extend(src)
try:
   mc.select(toSelect)
except:
   pass