#!/usr/bin/python

import paramiko

jumpHost=paramiko.SSHClient()
sshKey = paramiko.RSAKey.from_private_key_file('path.to.key/file', password = 'the.passphrase')
jumpHost.set_missing_host_key_policy(paramiko.AutoAddPolicy())
jumpHost.connect('jump.hostname',username='foo', pkey = sshKey)
jumpHostTransport = jumpHost.get_transport()
dest_addr = ('destination.hostname', 22)
local_addr = ('jump.hostname', 22)
jumpHostChannel = jumpHostTransport.open_channel("direct-tcpip", dest_addr, local_addr)

destHost=paramiko.SSHClient()
destHost.set_missing_host_key_policy(paramiko.AutoAddPolicy())
destHost.connect('destination.hostname', username='foo', sock=jumpHostChannel, pkey=sshKey)
destHostAgentSession = destHost.get_transport().open_session()
paramiko.agent.AgentRequestHandler(destHostAgentSession)

stdin, stderr, stdout = destHost.exec_command("my.command.which.connects.to.another.host")

print(stdout.read())
print(stderr.read())

destHost.close()
jumpHost.close()