We address global motion planning for quasi-static re-orientation of convex objects (polyhedral and smooth objects) with a four-fingertip grasp. We make use of a simple human-like manipulation strategy in which a single finger is moved at each instant while the other three are maintained fixed (wrt the palm) --an extended version of the original finger tracking scheme of Rus [25, 26]. This new version essentially incorporates frictional rolling and sliding at the fingertips and deals with the related contact kinematics and quasi-static motion/force prediction issues. Our contribution is twofold. First, we describe an analysis showing that this extended scheme is suitable for reducing the space of the object motions; thereby making motion planning easier and operating on a search space of low dimension- . Our second contribution is a planner that exploits such a search space reduction and applies the extended finger tracking at the core of a multi-leve- l hierarchical framework to search for global re-orientation trajectories. The planner has been implemented and used for achieving several non-trivial frictional re-orientation tasks that show the capabilities and the promise of our approach.